Dynamic Model and Control for A Cable‐driven Continuum Manipulator Used for Minimally Invasive Surgery

2021 ◽  
Author(s):  
Fei Qi ◽  
Bai Chen ◽  
Shuyuan Gao ◽  
Shigang She
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Dynamic Model ◽  
Invasive Surgery ◽  
Continuum Manipulator ◽  
And Control

Dynamic Modeling of an Innovative Piezoelectric Actuator for Minimally Invasive Surgery

1999 ◽  
Author(s):  
Benjamin Edinger ◽  
Mary Frecker ◽  
John Gardner
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Dynamic Model ◽  
Invasive Surgery ◽  
Force Measurement ◽  
Equations Of Motion ◽  
Measurement Model ◽  
End Effector ◽  
Simulation Results ◽  
Optimal Driving

Abstract A small piezoelectric inchworm actuator has been designed for use with a monolithic compliant end-effector in minimally invasive surgery procedures. A dynamic model of the inchworm actuator has been developed using SIMULINK. Utilizing the equations of motion for the inchworm actuator, the dynamic characteristics of the piezoelectric stack material, and the known compliance of the gripper, a force measurement model has been developed which extracts resisting force information from the piezoelectric signal. The focus of this paper is on the development of the dynamic model and the results of a simulation study that will be used to develop optimal driving signals for the inchworm actuator. Simulation results include the predicted displacement capabilities and settling time of the inchworm actuator over a range of driving frequencies.

scholarly journals Teach and Playback Training Device for Minimally Invasive Surgery

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Sriram Garudeswaran ◽  
Sohyung Cho ◽  
Ikechukwu Ohu ◽  
Ali K. Panahi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Length Of Hospital Stay ◽  
The Body ◽  
Complex Nature ◽  
Training Device ◽  
Surgical Residents ◽  
Work Area ◽  
And Control

Recent technological progress offers the opportunity to significantly transform conventional open surgical procedures in ways that allow minimally invasive surgery (MIS) to be accomplished by specific operative instruments’ entry into the body through key-sized holes rather than large incisions. Although MIS offers an opportunity for less trauma and quicker recovery, thereby reducing length of hospital stay and attendant costs, the complex nature of this procedure makes it difficult to master, not least because of the limited work area and constricted degree of freedom. Accordingly, this research seeks to design a Teach and Playback device that can aid surgical training by key-framing and then reproducing surgical motions. The result is an inexpensive and portable Teach and Playback laparoscopic training device that can record a trainer’s surgical motions and then play them back for trainees. Indeed, such a device could provide a training platform for surgical residents generally and would also be susceptible of many other applications for other robot-assisted tasks that might require complex motion training and control.

Design of a Robotic Cameraman With Three Actuators for Laparoscopic Surgery

2006 ◽  
Author(s):  
A. Mirbagheri ◽  
F. Farahmand ◽  
A. Meghdari ◽  
H. Sayyaadi ◽  
L. Savoj ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Laparoscopic Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Personal Control ◽  
Robotic Systems ◽  
Robotic Arm ◽  
And Control ◽  
Novel Design

Laparoscopic surgery is a specific branch of minimally invasive surgery (MIS) that is performed on the abdomen and endoscopic tools are passed through the incision points and trocars on the abdominal wall, so they can reach the surgical site [1]. Robotic systems have been proved to be very useful as a cameraman in laparoscopic surgery; they are more stable with no fatigue and inattention and reduce the supernumerary staff required, provide excellent geometrical accuracy and improved personal control for the surgeon over the procedure, etc. The available robots for handling and control of laparoscopic lens include at least 4 actuators to fulfill the surgeon’s requirements [2]. The purpose of the present study was to develop a novel design for the laparoscope robotic arm in which while the systems move ability is maintained its active degrees of freedom are reduced.

scholarly journals Design of Micro Robot for Minimally Invasive Surgery

2013 ◽  
Vol 2 (1) ◽  
pp. 35 ◽  
Author(s):  
Deiva Ganesh A
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Human Body ◽  
Invasive Surgery ◽  
Driving Force ◽  
State Of The Art ◽  
Medical Applications ◽  
Micro Robot ◽  
Robot Technology ◽  
And Control

<p>Micro robots for medical applications need to be compatible with human body, remotely controllable, smooth in movement, less painful to the patients and capable of performing the designated functions. In this paper, state of the art in the design, fabrication and control of micro robots are presented. First the benefits of micro robots in medical applications are listed out. Second, the predominantly used micro robot designs are discussed. Third, the various fabrication process used in micro robot construction are presented. Fourth, the different approaches used for its operation and control in micro robot technology are narrated. Next based on the review we have designed a swimming micro robot driven by external magnetic fields for minimally invasive surgery. The advantage of EMA is that it can generate a wireless driving force. Then, the locomotive mechanism of the micro robot using EMA is presented. Using the EMA system setup various experiments have been conducted. Finally, the performance of the swimming micro robot is evaluated.</p> <p><strong> </strong></p> <p><strong> </strong></p> <p><strong></strong></p> <p> </p>

An Earthworm-Like Microrobot for Colonoscopy

2006 ◽  
Vol 40 (6) ◽  
pp. 471-478 ◽  
Author(s):  
K. D. Wang ◽  
G. Z. Yan
Keyword(s):  
Minimally Invasive Surgery ◽  
Control System ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Viscoelastic Model ◽  
Research Topic ◽  
In Vitro Experiments ◽  
And Control ◽  
Acting Force

Abstract Miniature robotics for colonoscopy has become a hot research topic with the development of minimally invasive surgery (MIS). In this paper, a novel microrobot for colonoscopy that operates based on a simulation of the squirming motion of the earthworm is described. The robot uses a unique driving unit called a linear electromagnetic driver. The prototype measures 9.5 mm in diameter and 120 mm in length. It is driven by a linear direct current (DC) motor designed and manufactured by the authors. This paper describes the prototype, locomotion principle, and control system in detail. It then describes two models that were built to study the robot's ability to move in the viscoelastic colon environment. A slope model of motion was developed and some mathematical evaluations of locomotion conditions were conducted. Experiments to test the creeping ability of the prototype on a slope were performed to verify these expressions. From the viscoelastic model relative to acting force between the robot and the colon, a transcendent equation about locomotive efficiency of the critical squirm step was deduced and solved to instruct the design of the robot. Last, in vitro experiments in the fresh colon of a pig were performed. The results show that this kind of microrobot can propel itself freely and reliably in the soft viscoelastic colon. Finally, future areas of research are noted.

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