Integration of a Miniaturised Triaxial Force Sensor in a Minimally Invasive Surgical Tool

2006 ◽  
Vol 53 (11) ◽  
pp. 2397-2400 ◽  
Author(s):  
P. Valdastri ◽  
K. Harada ◽  
A. Menciassi ◽  
L. Beccai ◽  
C. Stefanini ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Force Sensor ◽  
Minimally Invasive Surgical ◽  
Surgical Tool

FlexDex™: A Minimally Invasive Surgical Tool With Enhanced Dexterity and Intuitive Control

2010 ◽  
Vol 4 (3) ◽  
Author(s):  
Shorya Awtar ◽  
Tristan T. Trutna ◽  
Jens M. Nielsen ◽  
Rosa Abani ◽  
James Geiger
Keyword(s):  
Minimally Invasive ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Technology Development ◽  
Low Cost ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Design Paradigm ◽  
Rotational Degrees Of Freedom

This paper presents a new minimally invasive surgical (MIS) tool design paradigm that enables enhanced dexterity, intuitive control, and natural force feedback in a low-cost compact package. The paradigm is based on creating a tool frame that is attached to the surgeon’s forearm, making the tool shaft an extension of the latter. Two additional wristlike rotational degrees of freedom (DoF) provided at an end-effector that is located at the end of the tool shaft are manually actuated via a novel parallel-kinematic virtual center mechanism at the tool input. The virtual center mechanism, made possible by the forearm-attached tool frame, creates a virtual two-DoF input joint that is coincident with the surgeon’s wrist, allowing the surgeon to rotate his/her hand with respect to his/her forearm freely and naturally. A cable transmission associated with the virtual center mechanism captures the surgeon’s wrist rotations and transmits them to the two corresponding end-effector rotations. This physical configuration allows an intuitive and ergonomic one-to-one mapping of the surgeon’s forearm and hand motions at the tool input to the end-effector motions at the tool output inside the patient’s body. Moreover, a purely mechanical construction ensures low-cost, simple design, and natural force feedback. A functional decomposition of the proposed physical configuration is carried out to identify and design key modules in the system—virtual center mechanism, tool handle and grasping actuation, end-effector and output joint, transmission system, tool frame and shaft, and forearm brace. Development and integration of these modules leads to a proof-of-concept prototype of the new MIS tool, referred to as FlexDex™, which is then tested by a focused end-user group to evaluate its performance and obtain feedback for the next stage of technology development.

Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot

2015 ◽  
Vol 9 (1) ◽  
Author(s):  
Jianmin Li ◽  
Yuan Xing ◽  
Ke Liang ◽  
Shuxin Wang
Keyword(s):  
Minimally Invasive ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Surgical Robot ◽  
Main Body ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Movable Platform ◽  
Robotic Wrist

To deliver more value to the healthcare industry, a specialized surgical robot is needed in the minimally invasive surgery (MIS) field. To fill this need, a compact hybrid robotic wrist with four degrees of freedom (DOFs) is developed for assisting physicians to perform MIS. The main body of the wrist is a 2DOF parallel mechanism with a remote center-of-motion (RCM), which is located outside the mechanism. From the mechanical point of view, it is different from existing 2DOF spherical mechanisms, since there is no physical constraint on the RCM. Other DOFs of the wrist are realized by a revolute joint and a prismatic joint, which are serially mounted on the movable platform of the parallel mechanism. The function of these DOFs is to realize the roll motion and the in-out translation of the surgical tool. Special attention is paid to the parallel RCM mechanism. The detailed design is provided and the kinematic equations are obtained in the paper. Further, the Jacobian matrix is derived based on the kinematic equations. Finally, the paper examines the singularity configurations and implements the condition number analysis to identify the kinematic performance of the mechanism.

scholarly journals An Instrumented Minimally Invasive Surgical Tool: Design and Calibration

2011 ◽  
Vol 8 (2) ◽  
pp. 173-190 ◽  
Author(s):  
Philip R. Roan ◽  
Andrew S. Wright ◽  
Thomas S. Lendvay ◽  
Mika N. Sinanan ◽  
Blake Hannaford
Keyword(s):  
Optical Absorption ◽  
Minimally Invasive ◽  
Electrical Impedance ◽  
Cancer Recurrence ◽  
Tool Design ◽  
Optical Encoder ◽  
Tissue Ischemia ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Ischemic Tissue

Minimally invasive surgical procedures have improved the standard of patient care by reducing recovery time, chance of infection, and scarring. A recent review estimates that leaks occur in 3% to 6% of bowel anastomoses, resulting in “increased morbidity and mortality and adversely [affecting] length of stay, cost, and cancer recurrence” [23]. Many of these leaks are caused by poor handling and ischemic tissue.Detecting a change in temperature can indicate ischemic tissue. The optical absorption spectrum of a tissue can be used to detect tissue oxygen concentration and tissue ischemia. The electrical impedance of tissue changes as ischemia progresses.This article describes the development of a minimally invasive surgical tool with integrated sensors for replicating ischemia detection measurements during routine manipulation of the tissue. To be useful, this tool should be feasible for use in a real operating room, providing real-time feedback and diagnosis to the surgeon. The design of the tool and choice of the sensors leverages existing work in physiological measurements and surgical tool design.The tool includes a thermistor for measuring the temperature, four LEDs and a photodiode for measuring local optical absorption, and four electrodes for measuring the electrical impedance. The sensors are located on a 7 mm square sensor head, which is mounted to a minimally invasive grasper. A strain gauge and optical encoder monitor the applied force and position of the tool, and a motor controls both. This allows the tool to control the tool-tissue interface. Sensor accuracy has been validated through calibration.

Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical Palpation

2012 ◽  
Vol 17 (4) ◽  
pp. 646-656 ◽  
Author(s):  
P. Puangmali ◽  
Hongbin Liu ◽  
L. D. Seneviratne ◽  
P. Dasgupta ◽  
K. Althoefer
Keyword(s):  
Minimally Invasive ◽  
Force Sensor ◽  
Minimally Invasive Surgical

Kinematic Design of a Generalized Double Parallelogram Based Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot

2016 ◽  
Vol 10 (4) ◽  
Author(s):  
Kang Kong ◽  
Jianmin Li ◽  
Huaifeng Zhang ◽  
Jinhua Li ◽  
Shuxin Wang
Keyword(s):  
Minimally Invasive ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Basic Element ◽  
Mathematical Framework ◽  
Minimally Invasive Surgical ◽  
Revolute Joints ◽  
Surgical Tool ◽  
Actuated Joints

Robot-assisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional techniques. To improve dexterity and back-drivability of the existing planar remote center-of-motion (RCM) mechanism, on which an active prismatic joint is required to drive the surgical tool move in–out of the patient's body, a two degrees-of-freedom (DOFs) planar RCM mechanism is proposed by constructing virtual parallelograms in this paper. The mechanism can be considered as a generalized double parallelogram; both of the actuated joints are revolute joints. This feature enhances the intrinsic back-drivability of the mechanism. The mathematical framework is introduced first to prove that the mechanism could execute RCM. Then, the inverse kinematics of the planar mechanism is solved, and the Jacobian matrix is derived in this paper. Further, the singularity and the kinematic performance based on the kinematic equations are investigated, and the workspace of the mechanism is verified. Finally, a prototype was built to test the function of the proposed RCM mechanism. The results show that the mechanism can fulfill the constraint of MIS, and it can be used as the basic element of the active manipulator in an MIS robot.

scholarly journals Smartphone-assisted minimally invasive neurosurgery

2018 ◽  
Vol 130 (1) ◽  
pp. 90-98 ◽  
Author(s):  
Mauricio Mandel ◽  
Carlo Emanuel Petito ◽  
Rafael Tutihashi ◽  
Wellingson Paiva ◽  
Suzana Abramovicz Mandel ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Fiber Optics ◽  
Cerebral Aneurysms ◽  
New Method ◽  
Minimally Invasive Neurosurgery ◽  
High Definition ◽  
Combined System ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Communication Devices

OBJECTIVEAdvances in video and fiber optics since the 1990s have led to the development of several commercially available high-definition neuroendoscopes. This technological improvement, however, has been surpassed by the smartphone revolution. With the increasing integration of smartphone technology into medical care, the introduction of these high-quality computerized communication devices with built-in digital cameras offers new possibilities in neuroendoscopy. The aim of this study was to investigate the usefulness of smartphone-endoscope integration in performing different types of minimally invasive neurosurgery.METHODSThe authors present a new surgical tool that integrates a smartphone with an endoscope by use of a specially designed adapter, thus eliminating the need for the video system customarily used for endoscopy. The authors used this novel combined system to perform minimally invasive surgery on patients with various neuropathological disorders, including cavernomas, cerebral aneurysms, hydrocephalus, subdural hematomas, contusional hematomas, and spontaneous intracerebral hematomas.RESULTSThe new endoscopic system featuring smartphone-endoscope integration was used by the authors in the minimally invasive surgical treatment of 42 patients. All procedures were successfully performed, and no complications related to the use of the new method were observed. The quality of the images obtained with the smartphone was high enough to provide adequate information to the neurosurgeons, as smartphone cameras can record images in high definition or 4K resolution. Moreover, because the smartphone screen moves along with the endoscope, surgical mobility was enhanced with the use of this method, facilitating more intuitive use. In fact, this increased mobility was identified as the greatest benefit of the use of the smartphone-endoscope system compared with the use of the neuroendoscope with the standard video set.CONCLUSIONSMinimally invasive approaches are the new frontier in neurosurgery, and technological innovation and integration are crucial to ongoing progress in the application of these techniques. The use of smartphones with endoscopes is a safe and efficient new method of performing endoscope-assisted neurosurgery that may increase surgeon mobility and reduce equipment costs.

FlexDex™: A Minimally Invasive Surgical Tool With Enhanced Dexterity and Intuitive Actuation

2009 ◽  
Author(s):  
Shorya Awtar ◽  
Tristan T. Trutna ◽  
Rosa Abani ◽  
Jens M. Nielsen ◽  
Andrew B. Mansfield
Keyword(s):  
Minimally Invasive ◽  
Force Feedback ◽  
Mechanical Design ◽  
Low Cost ◽  
Tool Design ◽  
System Level ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Design Paradigm

This paper presents the design and fabrication of a novel minimally invasive surgical (MIS) tool — FlexDex™ — that provides enhanced dexterity, intuitive actuation, and natural force feedback in a cost-effective compact package. These attributes are accomplished by means of a fundamentally new MIS tool design paradigm that employs a tool reference attached to the surgeon’s arm, and utilizes a virtual center at the tool input that coincides with the surgeon’s wrist. The resulting physical configuration enables a highly intuitive one-to-one mapping of the surgeon’s arm and hand motions at the tool input to the end-effector motions at the tool output inside the patient’s body. Furthermore, a purely mechanical design ensures low-cost, simple construction, and natural force feedback. A functional decomposition of the proposed design paradigm and associated physical configuration is carried out to identify key modules in the system. This allows for the conceptual and detailed design of each module, followed by system-level integration. The key innovative aspects of the tool design include a three-dimensional parallel-kinematic virtual center mechanism, a decoupled 2DoF end-effector design, and the associated transmissions system.

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