Projects / Mechatronics in Medicine

Design and fabrication of FlexibleRobotic Device for limited Slice Surgery

Site: Robotic Surgery and Artificial Tactile Sensing Laboratory, Amirkabir University of Technology, Tehran, Iran
Position: Consular of M.Sc. Project
Customer: Urology research center in Iran

This instrument consists of three main components, which are wrist mechanism, cable and back end mechanism, and end effector mechanism. The proposed surgical instrument has 5DOF with 8 mm diameter and has bending range of -90 to +90 degrees in horizontal and vertical directions. The designed instrument is wire actuated using steel cables. In order to control the flexible instrument, a servo system is constructed. Main advantages of this surgical instrument are its low weight and the ability of providing sufficient degrees of freedom for movement in complex spaces.

Design and fabrication of robotic foot prosthetics

Site: Robotic and gait analysis laboratory, Amirkabir University of Technology, Tehran, Iran
Position: Director of PhD Project

Design and fabrication of Intelligent Probe for Recognition of KidneyStone In limited Slice Surgery

Site: Robotic Surgery and Artificial Tactile Sensing Laboratory, Amirkabir University of Technology, Tehran, Iran
Position: Consular of M.Sc. Project
Customer: Urology research center in Iran

Design and fabrication of Dynamic sensors Array on Sole for Recognition of Walking Defects

Site: Robotic Surgery and Artificial Tactile Sensing Laboratory, Amirkabir University of Technology, Tehran, Iran
Position: Consular of M.Sc. Project

Novel Esophagectomy End Effecter for Robotic Surgery

Site: Centre of research and technology in medicine, Tehran University, Tehran, Iran
Position: Inventor

In this project, a surgical instrument is designed and constructed which would be entered in the thorax by using its special mechanisms and then it would surround the esophagus. The proposed device consists of two parts, a fixed part and a mobile part. The mobile part is controlled by a lever on handle of the instrument. The radial part can surround the esophagus and dissect the adhesive tissues. The designed and constructed surgical instrument has proper size and geometry. The instrument does not induce any force to aorta artery, lungs, airways, and trachea and so, it can be used as the substitute of the surgeon’s arm.

Design and fabrication of Endoscopy Intelligent Grasper thatEquipped with Tactile Sensors

Site: Robotic Surgery and Artificial Tactile Sensing Laboratory, Amirkabir University of Technology, Tehran, Iran
Position: Inventor