Development of a medical robot system for minimally invasive surgery

2011 ◽  
Vol 8 (1) ◽  
pp. 85-96 ◽  
Author(s):  
Mei Feng ◽  
Yili Fu ◽  
Bo Pan ◽  
Chang Liu
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Medical Robot ◽  
Robot System

scholarly journals Development of a New Medical Robot System for Minimally Invasive Surgery

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 144136-144155 ◽  
Author(s):  
Guojun Niu ◽  
Bo Pan ◽  
Yili Fu ◽  
Cuicui Qu
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Medical Robot ◽  
Robot System

Lapabot: A compact telesurgical robot system for minimally invasive surgery: Part II. Telesurgery evaluation

2011 ◽  
Vol 21 (3) ◽  
pp. 195-200 ◽  
Author(s):  
Jun Woo Park ◽  
Duck Hee Lee ◽  
Young Woo Kim ◽  
Byeong Han Lee ◽  
Yung Ho Jo
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robot System

Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery

Robotica ◽  
2018 ◽  
Vol 37 (7) ◽  
pp. 1202-1213 ◽  
Author(s):  
C. A. Nelson ◽  
M. A. Laribi ◽  
S. Zeghloul
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
System Optimization ◽  
Design Parameters ◽  
Operating Table ◽  
Robot System ◽  
Spherical Linkages ◽  
Spherical Mechanism ◽  
Multi Robot

SUMMARYSerial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting in an unsuitable compromise between avoiding collision with the patient and producing good kinematic and workspace characteristics. In this paper, we propose a multi-robot system composed of two redundant serial spherical linkages to achieve this purpose. A multi-objective optimization for achieving the aforementioned design goals is presented first for a single redundant robot and then for a multi-robot system. The problem of mounting multiple robots on the operating table as well as the way cooperative actions can be performed is addressed. The sensitivity of each optimal solution (single-robot and multi-robot) to uncertainties in the design parameters is investigated.

Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery

2013 ◽  
Vol 198 ◽  
pp. 3-8 ◽  
Author(s):  
Roman Trochimczuk
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Forward Kinematics ◽  
Kinematic Structure ◽  
Kinematics Analysis ◽  
Medical Robot ◽  
Surgical Robots

In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

An ER Haptic Master-Slave Robot System for the Minimally Invasive Surgery

2013 ◽  
Vol 278-280 ◽  
pp. 551-555
Author(s):  
Won Ki Shin ◽  
Seung Bok Choi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tracking Control ◽  
Repulsive Force ◽  
Position Tracking ◽  
Robot System ◽  
Position Tracking Control

In this research, a slave robot is proposed and integrated with an electrorheological (ER) haptic master for minimally invasive surgery (MIS). A novel mechanism of the slave robot with a gimbal joint is developed to realize 4-DOF motions. The proposed slave robot consists of two arms, gimbal joint and fixed bar. The haptic master can generate a repulsive force as well as position motion for the slave robot. The manufactured slave robot and haptic master are remotely connected with each other via TCP/IP communications. Both repulsive force and position tracking control are evaluated in experiment.

scholarly journals Control of haptic master – slave robot system for minimally invasive surgery (MIS)

2013 ◽  
Vol 412 ◽  
pp. 012041 ◽  
Author(s):  
J S Oh ◽  
W K Shin ◽  
C H Uhm ◽  
S R Lee ◽  
Y M Han ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robot System
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