scholarly journals Kinematic and Workspace Comparison of Four and Five Degree of Freedom Miniature In Vivo Surgical Robot

2011 ◽  
Vol 5 (2) ◽  
Author(s):  
Ryan McCormick ◽  
Tyler D. Wortman ◽  
Kyle W. Strabala ◽  
Tom P. Frederick ◽  
Dmitry Oleynikov ◽  
...  
Keyword(s):  
Degree Of Freedom ◽  
Surgical Robot

scholarly journals Effect of Perturbing a Simulated Motion on Knee and Anterior Cruciate Ligament Kinetics

2012 ◽  
Vol 134 (10) ◽  
Author(s):  
Safa T. Herfat ◽  
Daniel V. Boguszewski ◽  
Rebecca J. Nesbitt ◽  
Jason T. Shearn
Keyword(s):  
Anterior Cruciate Ligament ◽  
Cruciate Ligament ◽  
Degree Of Freedom ◽  
Joint Kinetics ◽  
Motion Measurement ◽  
Joint Forces ◽  
Anterior Cruciate ◽  
Intact Knee

Current surgical treatments for common knee injuries do not restore the normal biomechanics. Among other factors, the abnormal biomechanics increases the susceptibility to the early onset of osteoarthritis. In pursuit of improving long term outcome, investigators must understand normal knee kinematics and corresponding joint and anterior cruciate ligament (ACL) kinetics during the activities of daily living. Our long term research goal is to measure in vivo joint motions for the ovine stifle model and later simulate these motions with a 6 degree of freedom (DOF) robot to measure the corresponding 3D kinetics of the knee and ACL-only joint. Unfortunately, the motion measurement and motion simulation technologies used for our project have associated errors. The objective of this study was to determine how motion measurement and motion recreation error affect knee and ACL-only joint kinetics by perturbing a simulated in vivo motion in each DOF and measuring the corresponding intact knee and ACL-only joint forces and moments. The normal starting position for the motion was perturbed in each degree of freedom by four levels (−0.50, −0.25, 0.25, and 0.50 mm or degrees). Only translational perturbations significantly affected the intact knee and ACL-only joint kinetics. The compression-distraction perturbation had the largest effect on intact knee forces and the anterior-posterior perturbation had the largest effect on the ACL forces. Small translational perturbations can significantly alter intact knee and ACL-only joint forces. Thus, translational motion measurement errors must be reduced to provide a more accurate representation of the intact knee and ACL kinetics. To account for the remaining motion measurement and recreation errors, an envelope of forces and moments should be reported. These force and moment ranges will provide valuable functional tissue engineering parameters (FTEPs) that can be used to design more effective ACL treatments.

A Three Degree of Freedom Lumped Parameter Model of Whole Body Vibration Along the Spine in the Rat

2013 ◽  
Author(s):  
Nicolas V. Jaumard ◽  
Hassam A. Baig ◽  
Benjamin B. Guarino ◽  
Beth A. Winkelstein
Keyword(s):  
Whole Body Vibration ◽  
Degree Of Freedom ◽  
Lumped Parameter Model ◽  
In Vivo Studies ◽  
Whole Body ◽  
Model Parameters ◽  
Body Vibration ◽  
Lumped Parameter ◽  
Three Degree Of Freedom

Whole body vibration (WBV) can induce a host of pathologies, including muscle fatigue and neck and low back pain [1,2]. A new model of WBV in the rat has been developed to define relationships between WBV exposures, kinematics, and behavioral sensitivity (i.e. pain) [3]. Although in vivo studies provide valuable associations between biomechanics and physiology, they are not able to fully define the mechanical loading of specific spinal regions and/or the tissues that may undergo injurious loading or deformation. Mathematical models of seated humans and primates have been used to estimate spinal loads and design measures that mitigate them during WBV [4–6]. Although such models provide estimates of relative spinal motions, they have limited utility for relating potentially pathological effects of vibration-induced kinematics and kinetics since those models do not enable simultaneous evaluation of relevant spinal tissues with the potential for injury and pain generation. As such, the goal of this work was to develop and validate a three degree of freedom (3DOF) lumped-parameter model of the prone rat undergoing WBV directed along the long-axis of the spine. The model was constructed with dimensions of a generalized rat and model parameters optimized using kinematics over a range of frequencies. It was validated by comparing predicted and measured transmissibility and further used to predict spinal extension and compression, as well as acceleration, during WBV for frequencies known to produce resonance in the seated human and pain in the rat [3,7].

Multi-Functional Surgical Robot for Laparo-Endoscopic Single-Site Colectomies

2011 ◽  
Author(s):  
T. D. Wortman ◽  
R. L. McCormick ◽  
E. J. Markvicka ◽  
T. P. Frederick ◽  
S. M. Farritor ◽  
...  
Keyword(s):  
User Interface ◽  
Operating Room ◽  
Surgical Procedure ◽  
Abdominal Cavity ◽  
Colon Resection ◽  
Surgical Robot ◽  
Single Site ◽  
Robotic Platform ◽  
Robot Platform

This paper presents work to develop a miniature in vivo robot for Laparo-Endoscopic Single-Site (LESS) colectomy. Colon resections are generally not done laparoscopically and would benefit from a robotic platform that reduces the limitations that are currently encountered. This paper looks at the workspace, forces, and speeds of a recently developed miniature in vivo surgical robot platform and analyzes the ability to perform a colon resection based on these criteria. The robotic platform used in this study consists of a two armed robotic prototype and a remote surgeon interface. For the surgical procedure, each arm of the robot is inserted individually into a single five centimeter incision and then assembled within the abdominal cavity. A surgeon then utilizes a user interface that is remotely located within the operating room. The current robotic platform has recently been demonstrated successfully in an in vivo procedure.

Workspace and Force Capabilities of a Miniature Multi-Functional Surgical Robot

2010 ◽  
Author(s):  
Kyle W. Strabala ◽  
Ryan M. McCormick ◽  
Tyler D. Wortman ◽  
Amy C. Lehman ◽  
Shane M. Farritor ◽  
...  
Keyword(s):  
Surgical Robot ◽  
Single Site ◽  
Design Criteria ◽  
Medical Applications ◽  
Laparoendoscopic Single Site ◽  
Animal Surgery ◽  
Laparoendoscopic Single Site Surgery ◽  
Single Site Surgery

This paper describes the capabilities of a miniature multi-functional in vivo robot designed and developed for Laparoendoscopic Single-Site Surgery (LESS). The paper outlines several competing design criteria including robot size, workspace volume, endpoint speeds, and endpoint forces. In this paper, the robot is evaluated according to these criteria. The workspace is described and the maximum no-load endpoint speeds and maximum attainable endpoint forces are presented. Finally, the robot capabilities are discussed, related to medical applications, and demonstrated in an animal surgery.

Dexterous Miniature in Vivo Surgical Robot for Long Duration Space Flight

2008 ◽  
Author(s):  
Nathan Wood ◽  
Amy Lehman ◽  
Jason Dumpert ◽  
Shane Farritor ◽  
Dmitry Oleynikov
Keyword(s):  
Space Flight ◽  
Surgical Robot ◽  
Long Duration

Design and validation of a foot–ankle dynamic simulator with a 6-degree-of-freedom parallel mechanism

2020 ◽  
Vol 234 (10) ◽  
pp. 1070-1082
Author(s):  
Dongmei Wang ◽  
Wei Wang ◽  
Qinyang Guo ◽  
Guanglin Shi ◽  
Genrui Zhu ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Stance Phase ◽  
The Body ◽  
Degree Of Freedom ◽  
External Control ◽  
Foot And Ankle ◽  
Multiple Correlation ◽  
Cadaveric Specimen ◽  
Dynamic Simulator

An in vitro simulation test using a designed well-targeted test rig has been regarded as an effective way to understand the kinematics and dynamics of the foot and ankle complex in the dynamic stance phase, and it also allows alterations in both internal and external control compared to in vivo tests. However, current simulators are limited by some assumptions. In this study, a novel foot and ankle bionic dynamic simulator was developed and validated. A movable 6-degree-of-freedom parallel mechanism, known as Steward platform, was used as the core structure to drive the tibia, with a tibial force actuator applied with different loads. Four major muscle groups were actuated by four sensored pulling cables connected to muscle tendons. Simulation processes were controlled using a software developed based on a proportional–integral–derivative control loop, with tension–compression sensors mounted on tendon pulling cables and used as real-time monitor signals. An iterative learning module for tibial force control was integrated into the control software. Six specimens of the cadaveric foot–ankle were used to validate the simulator. The stance phase was successfully simulated within 5 s, and the tibia loads were applied based on the body weight of the cadaveric specimen donors. Typical three-dimensional ground reaction forces were successfully reproduced. The coefficient of multiple correlation analysis demonstrated good repeatability of the dynamic simulator for the ground reaction force (coefficient of multiple correlation > 0.89) and the range of ankle motion (coefficient of multiple correlation > 0.87 with only one exception). The simulated ranges of the foot–ankle joint rotation in stance were consistent with in vivo measurements, indicating the success of the dynamic simulation process. The proposed dynamic simulator can enhance the understanding of the mechanism of the foot–ankle movement, related injury prevention, and surgical intervention.

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