Novel force-sensing system for minimally invasive surgical instruments

2017 ◽  
Author(s):  
Justin Wee ◽  
Matthew Kang ◽  
Peter Francis ◽  
Robert Brooks ◽  
Leigh Masotti ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Surgical Instruments ◽  
Force Sensing ◽  
Sensing System ◽  
Minimally Invasive Surgical

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Uniportal thoracoscopic right anterior basal (S8) segmentectomy using unidirectional dissection

2021 ◽  
Keyword(s):  
Minimally Invasive ◽  
Surgical Procedure ◽  
Lower Lobe ◽  
Lung Parenchyma ◽  
Surgical Instruments ◽  
Thoracoscopic Approach ◽  
Minimally Invasive Surgical Procedure ◽  
Small Incision ◽  
Minimally Invasive Surgical ◽  
The Right

Anterior basal (S8) segmentectomy is one of the most challenging procedures among the uncommon pulmonary segmentectomies because the surgeon has to identify dominant pulmonary vein branches located deep in the lung parenchyma. Moreover, with the uniportal thoracoscopic approach, the angulation of inserted surgical instruments via a single small incision is extremely limited, which causes technical difficulties. However, adoption of a suitable procedure such as unidirectional dissection enables us to perform this type of minimally invasive surgical procedure. We describe the successful results of a patient undergoing uniportal thoracoscopic S8 segmentectomy of the right lower lobe and explain the nuances of performing it.

Cylindrical Developable Mechanisms for Minimally Invasive Surgical Instruments

2019 ◽  
Author(s):  
Kenny Seymour ◽  
Jacob Sheffield ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Minimally Invasive ◽  
Potential Functions ◽  
Surgical Instruments ◽  
Curved Surfaces ◽  
Paper Properties ◽  
Minimally Invasive Surgical ◽  
Cylindrical Shaft ◽  
Surgical Devices ◽  
Kinematic Mechanisms

Abstract Developable mechanisms conform to and emerge from developable, or specially curved, surfaces. The cylindrical developable mechanism can have applications in many industries due to the popularity of cylindrical or tube-based devices. Laparoscopic surgical devices in particular are widely composed of instruments attached at the proximal end of a cylindrical shaft. In this paper, properties of cylindrical developable mechanisms are discussed, including their behaviors, characteristics, and potential functions. One method for designing cylindrical developable mechanisms is discussed. Two example developable surgical devices that exemplify these behaviors, characteristics, and functions, along with the kinematic mechanisms comprising them, are discussed in detail.

Attaining high bending stiffness by full actuation in steerable minimally invasive surgical instruments

2014 ◽  
Vol 24 (2) ◽  
pp. 77-85 ◽  
Author(s):  
Filip Jelínek ◽  
Giada Gerboni ◽  
Paul W. J. Henselmans ◽  
Rob Pessers ◽  
Paul Breedveld
Keyword(s):  
Minimally Invasive ◽  
Bending Stiffness ◽  
Surgical Instruments ◽  
Minimally Invasive Surgical

Application of Pulsating Vacuum Cleaning Technology to Medical Devices Cleaning

2022 ◽  
Vol 12 (5) ◽  
pp. 984-988
Author(s):  
Yan-Qiu Yang ◽  
Shuo-Yang Zhao
Keyword(s):  
Minimally Invasive ◽  
Medical Devices ◽  
Surgical Instruments ◽  
Loading Capacity ◽  
Complex Structures ◽  
Cleaning Efficiency ◽  
Minimally Invasive Surgical ◽  
Cleaning Machine ◽  
Vacuum Cleaning ◽  
Cleaning Technology

This study aims to solve existing problems in cleaning medical devices, such as the cumbersome loading of minimally invasive surgical instruments, the incomplete cleaning of instruments with complex structures, and the low cleaning efficiency of ordinary instruments. A pulsating vacuum cleaning machine was combined with ultrasonic cleaning and boiling cleaning technology to clean various complex medical devices through a pressure pulsating process (i.e., repetitive pump-out and pumpin until the cleaning results meet the cleaning standards for medical devices). The cleaning results of spay washing, ultrasound cleaning and pulsating vacuum cleaning were compared among four groups of medical devices, including silica gel hoses, chamber instruments, whole box of minimally invasive instruments and surgical instruments. The amount of protein residues was tested using the spectrophotometric method. The testing results revealed that the loading capacity of a pulsating vacuum cleaning machine is 3–4 times as much as that of an ordinary spray cleaning machine, without manual placement and connection operation required, which reduced the workload of pretreatment. The protein residue after cleaning meets the requirements of the YY/T0734 standard for the cleaning effect of medical devices. Pulsating vacuum cleaning technology has an overall better loading capacity, when compared to spay washing and ultrasound cleaning, and this can make up for the shortcomings of commonly used cleaning machines, such as the low cleaning efficiency and unsatisfactory cleaning results of medical devices with complex structures.

Systems for tracking minimally invasive surgical instruments

2007 ◽  
Vol 16 (6) ◽  
pp. 328-340 ◽  
Author(s):  
M. K. Chmarra ◽  
C. A. Grimbergen ◽  
J. Dankelman
Keyword(s):  
Minimally Invasive ◽  
Surgical Instruments ◽  
Minimally Invasive Surgical

Millimeter-Scale Robotic Mechanisms Using Carbon Nanotube Composite Structures

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Jordan D. Tanner ◽  
Clayton Grames ◽  
Brian D. Jensen ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Carbon Nanotubes ◽  
Minimally Invasive ◽  
Cross Section ◽  
Material Properties ◽  
Composite Structures ◽  
Surgical Instruments ◽  
Minimally Invasive Surgical ◽  
Carbon Nanotube Composite ◽  
Definition Of ◽  
Two Degree Of Freedom

This paper presents a method for fabricating millimeter-scale robotic components for minimally invasive surgery. Photolithographic patterning is used to create a framework of carbon nanotubes (CNTs) that can be infiltrated with a variety of materials, depending on the desired material properties. For the examples shown in this paper, amorphous carbon is used as the infiltration material. The planar frameworks are then stacked to create the 3D device. The detail and precision are affected by large changes in cross section in the direction of stacking. Methods for improving the definition of the 3D object due to changing cross section are discussed. The process is demonstrated in a two-degree-of-freedom (2DOF) wrist mechanism and a 2DOF surgical gripping mechanism, which have the potential of decreasing the size of future minimally invasive surgical instruments.

Sign in / Sign up

Export Citation Format

Share Document