## page was renamed from Infrastructure/InstrumentedSurgicalTools
#acl +All:read Default
#format wiki
#language en

<<TableOfContents>>

= Preliminary Work =
== Surgical Tools ==
These are images of the current tools, uses, and ways they are held.  

{{attachment:IMG_0820.JPG|Pickups|width=200}}
{{attachment:IMG_0821.JPG|Pickups with scissors|width=200}}
{{attachment:IMG_0822.JPG|Retractor|width=200}}
{{attachment:IMG_0823.JPG|Retractor pull from different angle|width=200}}

{{attachment:IMG_0824.JPG|Large Retractor: Grip 1|width=200}}
{{attachment:IMG_0825.JPG|Large Retractor: Grip 2 (Grips will change with fatigue of user)|width=200}}
{{attachment:IMG_0826.JPG|Retractor|width=200}}
{{attachment:IMG_0827.JPG|Needle Driver: Grip 1|width=200}}

{{attachment:IMG_0828.JPG|Needle Driver: Grip 2|width=200}}
{{attachment:IMG_0829.JPG|Needle Driver: Grip 3|width=200}}
{{attachment:IMG_0830.JPG|Needle Driver with Pickups|width=200}}
{{attachment:IMG_0831.JPG|Needle Driver with Pickups: Grip 4|width=200}}

{{attachment:IMG_0832.JPG|Needle Driver: Grip 5|width=200}}
{{attachment:IMG_0833.JPG|Needle Driver: Grip 6|width=200}}
{{attachment:IMG_0834.JPG|Scalpel|width=200}}
{{attachment:IMG_0835.JPG|Scalpel (Grip 1) with pickups|width=200}}

{{attachment:IMG_0836.JPG|Scalpel blades: sizes 10|width=200}}
{{attachment:IMG_0837.JPG|Scalpel (Grip 2) with pickups|width=200}}
{{attachment:IMG_0838.JPG|Scalpel: Grip 2|width=200}}
{{attachment:IMG_0839.JPG|Scalpel (Grip 2) with pickups and piercing cut|width=200}}

{{attachment:IMG_0840.JPG|Scalpel (Grip 2) with pickups and slice cut|width=200}}
{{attachment:IMG_0841.JPG|Electrocautery with pickups|width=200}}
{{attachment:IMG_0842.JPG|Electrocautery with scalpel handle|width=200}}
{{attachment:IMG_0843.JPG|Long scissors grip|width=200}}

{{attachment:IMG_0844.JPG|Med Retractor: Grip 1|width=200}}
{{attachment:IMG_0845.JPG|Med Retractor: Grip 2 (Grips will change with fatigue of user)|width=200}}
{{attachment:IMG_0846.JPG|Weitlaner Retractor|width=200}}
{{attachment:IMG_0847.JPG|Arthroscopic scissor tool 1|width=200}}

{{attachment:IMG_0848.JPG|Arthroscopic scissor tool 2|width=200}}
{{attachment:IMG_0849.JPG|Arthroscopic scissor tool 1 tip|width=200}}
{{attachment:IMG_0850.JPG|Arthroscopic scissor tool 2 grip|width=200}}

== Pilot Study ==
 * A pilot study was completed to determine the proper load cell(s) for the instrumented surgical tools. It was important to determine the orders of magnitudes of forces and moments. 
 . 
 * Image 1 depicts the resultant forces and moments when a force is applied to one side of the forceps, as the other side remains stationary, compressing until fully compressed.
{{attachment:001.png|Forceps Compression|width=600}}
 * Image 2 depicts the resultant forces and moments in a simulation of forceps pulling on skin. To simulate this, a suture was sewn in to the skin. The suture line was then attached to a load cell. The experimenter then pulled on the load cell with one hand while stabilizing surrounding tissue with the other. 
{{attachment:002.png|Forceps Pulling|width=600}}
 * Image 3 depicts the resultant forces and moments of forceps squeezing a load cell. 
{{attachment:003.png|Forceps Squeezing|width=600}}
 * Image 4 depicts the resultant forces and moments of a scalpel cutting skin. A load cell was mounted to the scalpel at a common gripping location. The experimenter held on to one side of the load cell while cutting to ensure all forces were translated through the load cell. 
{{attachment:004.png|Scalpel w 15 blade, Cutting|width=600}}

= Physical Assembly =
== Scalpel ==
{{attachment:Perspective.png|Perspective|width=800}}
{{attachment:sectionPersp.png|Section Perspective|width=800}}
{{attachment:sectionRight.png|Section|width=800}}
{{attachment:axon.png|Exploded Axon|width=1000}}

{{attachment:3dprint2.png|3D Print - Handle|width=700}}

== Forceps ==

{{attachment:forceps1.png|Axon|width=800}}
{{attachment:forceps2.png|Perspective|width=800}}
{{attachment:forceps3.png|Perspective - Back|width=800}}
{{attachment:forceps4.png|Top|width=800}}

{{attachment:forceps5.png|Top|width=800}}