HİDRODİNAMİK KAVİTASYONA DAYALI BİYOMEDİKAL UYGULAMALAR İÇİN SİSTOSKOP TABANLI MİKROMANİPÜLATÖR TASARIMI VE GELİŞTİRİLMESİ

Minimal invaziv cerrahisi, açık ameliyatlarda hasta vücuduna açılan büyük kesiler yerine küçük kesilerden müdahale etme yöntemidir. Bu bildiride minimal invaziv yönteminin ürogenital sistem üzerinde kullanılmasını sağlayan sistoskopun tasarımı, deney düzeneği ve doğrulaması sunulmaktadır. Geliştirilen sistoskop, mesaneye düşen böbrek taşlarının vücuttan atılmak üzere yüzeyinin deforme edilmesi ve prostat bölgesinin küçültülmesini amaçlamaktadır. Bu işlem, sistoskop üzerinde bulunan hidrodinamik kavitasyon tüpünün hedef bölgeye yönlendirilmesiyle gerçekleştirilmektedir. Sistoskop üzerinde, bükülebilir uç işlevcinin Stewart platformu tarafından manipüle edilmesini sağlayan paslanmaz çelik halatlar, görüntülemeyi ve ışıklandırmayı sağlayan 2mm çaplı kamera ve aydınlatma sistemi ile müdahaleyi sağlayan hidrodinamik kavitasyon tüpünün yerleştirileceği çalışma kanalı bulunmakta olup sistemin toplam çapı 10mm’dir. Geliştirilen sistoskop, 2 serbestlik dereceli bükülebilir bir uç işlevciye sahiptir. Uç işlevci, iki serbestlik derecesinde ±40o aralığında bükülebilmektedir. Sistemin 3 boyutlu (3B) yazıcı ile ara prototipleri oluşturulmuş ve son prototipi DMLS (Direct Metal Laser Sintering) yöntemi ile metal tozlarından üretilmiştir. Üretilen son prototipin uç işlevci konumu görüntü işleme yöntemiyle bulunmuştur.

Anahtar Kelimeler:

Mikro-Manipülatörler, Sistoskop Teknolojisi, Minimal İnvaziv Cerrahisi

DESIGN AND DEVELOPMENT OF SYSTOSCOPE MICROMANIPULATOR FOR HYDRODYNAMIC CAVITATION BASED BIOMEDICAL APPLICATIONS

Minimally invasive surgery is a method of intervening in small openings rather than large openings to the patient's body during open surgery. In this paper, the design of the cystoscope, the experimental setup and the validation of the minimally invasive method for the urogenital system are presented. The developed cystoscope aims to abrade surface of kidney stones in the abdomen to be removed from the body and to minimize the prostate area. This is accomplished by directing the hydrodynamic cavitation tube on the cystoscope to the target region. The developed cystoscope has stainless steel ropes that can be manipulated by the Stewart platform and a flexible tip that the ropes control. In addition, there is a working channel to place the hydrodynamic cavitation tube, which provides intervention with a 2mm diameter camera and lighting system for investigation. The total diameter of the system is 10mm. The developed cystoscope has a bendable end function with 2 degrees of freedom. The end-tip can be twisted at ±40o in two degrees of freedom. Intermediate prototypes of the system were created with a 3-dimensional (3B) printer and the final prototype was produced from metal powders by DMLS (Direct Metal Laser Sintering) method. The end-tip position of the last prototype produced was found by image processing methods.

Keywords:

Micro-Manipulators, Sistoskop technology, Minimally invasive surgery,

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