Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31100
Modeling and Analysis of the Effects of Nephrolithiasis in Kidney Using a Computational Tactile Sensing Approach

Authors: Elnaz Afshari, Siamak Najarian


Having considered tactile sensing and palpation of a surgeon in order to detect kidney stone during open surgery; we present the 2D model of nephrolithiasis (two dimensional model of kidney containing a simulated stone). The effects of stone existence that appear on the surface of kidney (because of exerting mechanical load) are determined. Using Finite element method, it is illustrated that the created stress patterns on the surface of kidney and stress graphs not only show existence of stone inside kidney, but also show its exact location.

Keywords: Minimally Invasive Surgery, Finite Element Method, nephrolithiasis, Artificial Tactile Sensing

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1035


[1] S. Holmes, H. N. Whitfield, "The Current Status of Lithotripsy". Journal of Urology, 1991, vol. 68, p. 337-344.
[2] A. Novick, J. Jones, I. Gill, E. Klein, R.Rackley, J.Ross, "Operative Urology at the Cleveland Clinic", Humana Press, 2006, p. 65-88.
[3] M. Mack, "Minimally Invasive and Robotic Surgery", Opportunities for Medical Research, 2001, vol. 285(No. 5), p. 568-572.
[4] J. Dargahi, S. Najarian, "An integrated force-position tactile sensor for improving diagnostic and therapeutic endoscopic surgery", Biomed Mater Eng, 2004, vol. 14(No. 2), p. 151-166.
[5] J. Dargahi, M. Parameswaran, S. Payandeh, "A micromachined piezoelectric tactile sensor for an endoscopic grasper - theory, fabrication, and experiments", J Microelectromechan Syst, 2000,vol. 9(No. 3), p. 329-325.
[6] H.H. Melzer, M.O. Schur, W. Kunert, G. Buess, U. Voges, J.U. Meyer; "Intelligent Surgical Instrument System", Journal. of Endoscopic Surgery, 1993, vol. 1, p. 165-170.
[7] B. Deml, T. Ortmaier, U. Seibold, "The touch, and feel in minimally invasive surgery", IEEE Int. workshop on haptic audio visual environments and their applications 2005, p. 33-38.
[8] M. Ottermo, O. Stavdahl, T. Johansen, "Palpation instrument for augmented minimally invasive surgery", Proc. IEEE/RSJ Int. conf. on intelligent robots and systems, 2004, p. 3960-3964.
[9] H. John, P. Wiklund, "Robotic Urology", Berlin Heidelberg: Springer- Verlag, 2008, p. 203-217.
[10] I. Varkarakis, S. Rais Bahrami, L. Kavoussi, D. Stoianovici, "Robotic Surgery and Telesurgery in Urology", Elsevier Inc, urology, 2005, vol. 65, p. 840-846.
[11] J. Stock, M. Esposito, V. Lanter, "Urologic Robotic Surgery", Humana Press: a part of Springer Science, 2008, p. 215-229.
[12] J. Dargahi, S. Najarian, "Advances in Tactile Sensors Design/Manufacturing and Its Impact on Robotic Application, A review", Indus Robot, 2005, vol. 32(No. 3), p. 268-281.
[13] M.H. Lee, "Tactile Sensing: New Directions, New Challenges", the International Journal of Robotics Research, 2000, vol. 19, p. 636-643.
[14] S. Najarian, J. Dargahi, XZ. Zheng, "A novel method in measuring the stiffness of sensed objects with applications for biomedical robotic systems", Int J Med Robot Comput Assist Surg, 2006, vol. 2, p. 84-90.
[15] M. Shikida, T. Shimizu, K. Sato, K. Itoigawa, "Active tactile sensor for detecting contact force and hardness of an object", Sensors Actuators A, 2003, vol. 103, p. 213-218.
[16] A. El-Baz, R. Fahmi, S. Yuksel, A.A. Farag, W. Miller, M.A. El-Ghar, T. Eldiasty, "A New CAD System for the Evaluation of Kidney Diseases Using DCE-MRI", Berlin Heidelberg: Springer-Verlag, 2006, LNCS 4191, p. 446-453.
[17] N.P. Cohen, H.N. Whitfield, "Mechanical Testing of Urinary Calculi" World Journal of Urology, 1993, vol. 11, p. 13-18.