Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey

2017 ◽  
Vol 64 (8) ◽  
pp. 1665-1678 ◽  
Author(s):  
Chaoyang Shi ◽  
Xiongbiao Luo ◽  
Peng Qi ◽  
Tianliang Li ◽  
Shuang Song ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Continuum Robots ◽  
Shape Sensing

Extruded optical fiber triplets for 3D shape sensing for minimally invasive surgery

2019 ◽  
Author(s):  
Pierre Lorre ◽  
Frédéric Monet ◽  
Matthieu Gauthier ◽  
Arthur Poiffaut ◽  
Anthony Roberge ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Optical Fiber ◽  
Invasive Surgery ◽  
3D Shape ◽  
Shape Sensing

Carbon nanotube/glycerol embedded low cost flexible sensor for large deflection sensing of continuum manipulators

2021 ◽  
Author(s):  
SAPTAK BHATTACHERJEE ◽  
Sananda Chatterjee ◽  
Subhasis Bhaumik
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Large Deflection ◽  
Low Cost ◽  
Gauge Factor ◽  
Robot Assisted ◽  
Continuum Robots ◽  
Angular Deflection ◽  
Wide Range

Abstract Large deflection sensing is highly crucial for proper positioning and control of continuum robots during robot assisted minimally invasive surgery. Existing techniques suffer from eletromagnetic noise susceptibility, harmful radiation exposure, limited range, bio-incompatibility and necessity of expensive instruments. In the present study, we propose a Multi-Walled Carbon Nano-Tube (MWCNT)/polyglycerol based low cost, flexible and biocompatible sensor which could allow safer, faster and accurate angular deflection measurement of continuum robots for biomedical applications. Experimental results demonstrate that the sensor is stretchable upto 100% , provides a gauge factor upto 11.65, have response time around 8 ms, durability of -0.14% for cyclic loading and unloading and show very small creep upto ±0.0008 ( ±2.88%). Furthermore, the sensor can measure continuum robot deflection upto ±150 o with a sensitivity of 666.67 ohms/degree, with a maximum error of 1.67% and maximum hysteresis of 1.41%. Thus, wide range, low cost, fast response, and biocompatibility justify the potential of the proposed sensor for large deflection sensing of continuum robots during robot assisted minimally invasive surgery.

Novel Miniature Tip Design for Enhancing Dexterity in Minimally Invasive Surgery

2018 ◽  
Vol 12 (3) ◽  
Author(s):  
Aimée Sakes ◽  
Awaz Ali ◽  
Jovana Janjic ◽  
Paul Breedveld
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Tissue Characterization ◽  
Three Dimensional ◽  
Application Area ◽  
Technological Advances ◽  
Steel Cables ◽  
Shape Sensing

Even though technological advances have increased the application area of minimally invasive surgery (MIS), there are still hurdles to allow for widespread adoption for more complex procedures. The development of steerable instruments, in which the surgeon can alter the tip orientation, has increased the application area of MIS, but they are bulky, which limits their ability to navigate through narrow environments, and complex, which complicates miniaturization. Furthermore, they do not allow for navigating through complex anatomies. In an effort to improve the dexterity of the MIS instruments, while minimizing the outer dimensions, the previously developed cable-ring mechanism was redesigned, resulting in the thinnest, Ø 2 mm (Ø 1 mm lumen), eight degrees-of-freedom (DOF) multisteerable tip for MIS to date. The multisteerable tip consists of four steerable segments of 2DOF stackable elements allowing for ±90 deg articulation, as well the construction of complex shapes, actuated by 16 Ø 0.2 mm stainless steel cables. In a proof-of-principle experiment, an ultrasound transducer and optical shape sensing (OSS) fiber were inserted in the lumen, and the multisteerable tip was used to perform scanning motions in order to reconstruct a wire frame in three-dimensional (3D). This configuration could in future be used to safely navigate through delicate environments and allow for tissue characterization. Therefore, the multisteerable tip has the potential to increase the application area of MIS in future, as it allows for improved dexterity, the ability to guide several tip tools toward the operation area, and the ability to navigate through tight anatomies.

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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