The BlueDRAGON - a system for measuring the kinematics and dynamics of minimally invasive surgical tools in-vivo

2003 ◽  
Author(s):  
J. Rosen ◽  
J.D. Brown ◽  
L. Chang ◽  
M. Barreca ◽  
M. Sinanan ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Kinematics And Dynamics ◽  
Surgical Tools ◽  
Minimally Invasive Surgical

scholarly journals Microfabrication of PZT force sensors for minimally invasive surgical tools

2006 ◽  
Vol 34 ◽  
pp. 979-984 ◽  
Author(s):  
S Ezhilvalavan ◽  
Zaoli Zhang ◽  
Jeremy Loh ◽  
Jackie Y Ying
Keyword(s):  
Minimally Invasive ◽  
Force Sensors ◽  
Surgical Tools ◽  
Minimally Invasive Surgical

Microrobotic laser steering for minimally invasive surgery

2021 ◽  
Vol 6 (50) ◽  
pp. eabd5476
Author(s):  
Peter A. York ◽  
Rut Peña ◽  
Daniel Kent ◽  
Robert J. Wood
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
High Speed ◽  
Large Range ◽  
State Of The Art ◽  
Fabrication Method ◽  
Modular Assembly ◽  
Surgical Tools ◽  
Minimally Invasive Surgical ◽  
Current State

The creation of multiarticulated mechanisms for use with minimally invasive surgical tools is difficult because of fabrication, assembly, and actuation challenges on the millimeter scale of these devices. Nevertheless, such mechanisms are desirable for granting surgeons greater precision and dexterity to manipulate and visualize tissue at the surgical site. Here, we describe the construction of a complex optoelectromechanical device that can be integrated with existing surgical tools to control the position of a fiber-delivered laser. By using modular assembly and a laminate fabrication method, we are able to create a smaller and higher-bandwidth device than the current state of the art while achieving a range of motion similar to existing tools. The device we present is 6 millimeters in diameter and 16 millimeters in length and is capable of focusing and steering a fiber-delivered laser beam at high speed (1.2-kilohertz bandwidth) over a large range (over ±10 degrees in both of two axes) with excellent static repeatability (200 micrometers).

Optimization of a piezoelectric bimorph grasper for use in minimally invasive surgical applications

2005 ◽  
Vol 219 (9) ◽  
pp. 673-683 ◽  
Author(s):  
M Grujicic ◽  
C L Zhao ◽  
E M Austin
Keyword(s):  
Minimally Invasive ◽  
Constant Thickness ◽  
Functional Requirements ◽  
Piezoelectric Bimorph ◽  
Algorithm Optimization ◽  
Element Analysis ◽  
Surgical Tools ◽  
Minimally Invasive Surgical ◽  
Poling Direction ◽  
Grasping Force

The potential use of piezoelectric bimorph actuators in minimally invasive surgery suture-needle grasper/holder applications is explored computationally. Upon defining the design/functional requirements for such surgical tools, a finite element analysis of the underlying piezoelectric boundary value problem is combined with the genetic algorithm optimization routine to arrive at an optimal morphology of the suture-needle grasper/holder. The results obtained show that, if the actuator is based on several constant-thickness segments, a proper combination of thicknesses of such segments can substantially improve the performance of such surgical tools. Specifically, a good combination of the relatively large grasper-jaws opening and the required level of the holding force when the grasper is closed on a 0.5 mm diameter suture-needle is obtained. The effect of orientation of the poling direction in the piezoelectric layers on the performance of the bimorph actuator is also examined. It is found that, at the same level of the required grasping force, a change in the poling direction by about 2.3° from the through-the-thickness direction can increase the maximum grasper-jaws opening by about 10 per cent.

Full Dimensional Intuitive Motion Mapping Strategy for Minimally Invasive Surgical Robot with Redundant Passive Joints

2020 ◽  
Author(s):  
Kang Kong ◽  
Shuxin Wang ◽  
Jianmin Li ◽  
He Su
Keyword(s):  
Minimally Invasive ◽  
Mapping Method ◽  
Control Technique ◽  
Direct Control ◽  
Minimally Invasive Surgical ◽  
Mapping Strategy ◽  
Orientation Mapping ◽  
Position And Orientation ◽  
Limited Motion

Abstract Adding redundant passive joints to a robotic arm is an effective way to make the robot overcome the inherent incision constraint of minimally invasive surgery (MIS). However, due to the limited motion accuracy, it is difficult to realize full-dimensional intuitive motion based on traditional multi-axis coordinated control technology in this kind of MIS robots. To solve this problem, a separated position and orientation mapping strategy for MIS robot with redundant passive joints is proposed in the paper. The position and orientation mapping of the strategy are realized by coordinate motion control and joint direct control technique, respectively. To realize the intuitive motion under this condition, an inverse motion mapping method is further proposed. Compared with the existing mapping strategy, the proposed strategy is much more compact as the orientation mapping is greatly simplified. A large number of in-vivo trials based on the newly developed prototype have been conducted and results fully verify the effectiveness of the proposed strategy.

A Novel Rat Model of Persistent Gouty Arthritis by Minimally Invasive Saturated Msu Embedding 

2020 ◽  
Author(s):  
Hanlin Xu ◽  
ShengKun Li ◽  
XiaoAo Xue ◽  
ZiYi Chen ◽  
Yinghui Hua
Keyword(s):  
Minimally Invasive ◽  
Rat Model ◽  
Gouty Arthritis ◽  
The Novel ◽  
Minimally Invasive Surgical ◽  
Crystal Arthritis ◽  
Tnf Α ◽  
Quantitative Immunofluorescence ◽  
Reproducible Method

Abstract Background: Animal models are valid for in vivo research on the pathophysiological process and drug screening of gout arthritis. Intra-articular injection of monosodium urate (MSU) is commonly used to establish animal model at present, while stable MSU deposition and tophi formation were rarely reported. Method: A total of twenty-four rats were randomly allocated into six groups. Three intervention groups of rats received MSU embedment for 3-5 times, respectively. Sham groups received pseudo surgeries with normal saline (NS). Gross parameters and pathological features of synovium harvested from anterior capsule. Mechanical pain threshold tests of rats were conducted over a 96-hour period postoperatively. Result: Significant synovial swelling was detected in the MSU group compared to the sham group(P<0.05). Behavioral tests showed that the embedding of MSU resulted in prolonged mechanical hyperalgesia (P<0.05 during 2 hours to 96 hours postoperatively). MSU depositions enveloped by neutrophil extracellular traps (NETs) were detected where the IL-1β and TNF-α were co-expressed in embedding groups. Quantitative immunofluorescence suggested that the frequencies of MSU interventions promoted expression of proinflammatory factors (P<0.05).Conclusion: A minimally invasive surgical method was developed to establish the novel rat model of intra-articular MSU deposition. This model was proved to be a simple reproducible method to mimic the pathological characteristics of intra-articular crystal arthritis.

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