Yavuz BASTUG, Osman YAZICIOĞLU, Oğuz BORAT

ROBOTİK CERRAHİ UYGULAMALARININ İNCELENMESİ

Robotik cerrahide yeni ürün geliştirme ve araştırmalar hızla ilerlemektedir. Robotik cerrahi üroloji gibi alanlarda kullanılmaktadır. Dokular cerrahinin hedef ortamıdır ve biyomekanik özellikleri hem ameliyat öncesi planlamada hem de cerrahi yöntemin uygulanmasında önemli rol oynamaktadır. Gerilme-birim şekil değiştirme eğrisi ile yumuşak dokuların mekanik davranışını değerlendirilmektedir. Gerilme-gevşeme testinde önceden tanımlanmış bir gerilme birim şekil değiştirme uygulanmakta ve buna karşılık gelen gerilme zamanın bir fonksiyonu olarak takip edilmektedir. Tüm bifazik ve viskoelastik yumuşak dokular önce gevşeme fazını sergilemekte ve daha sonra tüm yük bir dokunun katı matrisi tarafından taşınmaktadır. Tendon fasyadan daha az uyarlanabilmekte, ancak kasla seri halinde olmak, kasın uzamasıyla sertliğini telafi edebilmektedir. Kemikler viskoelastik davranış sergilemekte, bu da gerilmenin sadece birim şekil değiştirmeye değil, aynı zamanda gerilme geçmişine de bağlı olduğu anlamına gelmektedir. Kemik çalışmasında yukarıdaki fenomenlerin her birine dayanan deneysel reoloji yöntemleri kullanılmaktadır. Islak bir kemik için kayıp tanjanti ve depolama modülü zamana bağlı olmaktadır. Eksik modül iskelet kası gibi organlar için saptanmaktadır.

Anahtar Kelimeler:

Biyomekanik, Doku Viskoelastisitesi, Robotik Cerrahi

INVESTIGATION OF ROBOTIC SURGERY APPLICATIONS

New product development and research in robotic surgery is progressing rapidly. Robotic surgery is used in fields such as urology. Tissues are the target environment of surgery and their biomechanical properties play an important role both in preoperative planning and in the application of the surgical method. The mechanical behavior of soft tissues is evaluated with the stress-strain curve. In the stress-relaxation test, a predefined stress strain is applied and the corresponding stress is followed as a function of time. All biphasic and viscoelastic soft tissues first exhibit the relaxation phase and then the entire load is carried by a solid matrix of tissue. The tendon is less adaptable than the fascia, but being in series with the muscle can compensate for the stiffness of the muscle by lengthening. Bones exhibit viscoelastic behavior, meaning that stress is dependent not only on strain but also on stress history. Experimental rheology methods based on each of the above phenomena are used in bone study. For a wet bone, the loss tangent and storage modulus are time dependent. The missing module is detected for organs such as skeletal muscle.

Keywords:

Biomechanics, Robotic Surgery, Tissue Viscoelasticity,

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