Design of a Compact Robotic Manipulator for Single-Port Laparoscopy

2014 ◽  
Vol 136 (10) ◽  
Author(s):  
Claudio Quaglia ◽  
Gianluigi Petroni ◽  
Marta Niccolini ◽  
Sebastiano Caccavaro ◽  
Paolo Dario ◽  
...  
Keyword(s):  
Medical Devices ◽  
Single Port ◽  
Mechanical Design ◽  
Skin Incision ◽  
Light Weight ◽  
Tracking Accuracy ◽  
Robotic Platform ◽  
Single Port Laparoscopy ◽  
Design Requirements ◽  
Bimanual Robot

This paper presents the mechanical design of a novel surgical robotic platform, specifically developed for single-port laparoscopy (SPL). The greatest constraint is the small size of the skin incision through which the robot must operate. Several technical and technological challenges have been tackled to meet the stringent requirements imposed by the surgical procedure at hand. In this paper, a detailed mechanical description of the system is provided, fulfilling the necessary design requirements. The main outcome of this work is a compact, light-weight (total weight approximately 6 kg) and highly dexterous bimanual robot capable of overcoming the current drawbacks experienced in SPL when using traditional medical devices. The system has been assessed in terms of tracking accuracy, resulting in satisfactory and promising performance.

scholarly journals Single-port robotic cholecystectomy. Initial and pioneer experience in Brazil

2015 ◽  
Vol 13 (4) ◽  
pp. 607-610 ◽  
Author(s):  
Vladimir Schraibman ◽  
Marina Gabrielle Epstein ◽  
Gabriel Naman Maccapani ◽  
Antônio Luiz de Vasconcellos Macedo
Keyword(s):  
United States ◽  
Minimally Invasive Surgery ◽  
Da Vinci ◽  
Single Port ◽  
Global Market ◽  
Robotic System ◽  
Robotic Platform ◽  
Aesthetic Results ◽  
Single Port Laparoscopy ◽  
The Aesthetic

The technique of a single-port laparoscopy was developed over the last years as an attempt to lower surgical aggression and improve the aesthetic results of the minimally invasive surgery. A new robotic platform used with the da Vinci® Robotic System Single-Site System® (Intuitive Surgical, Sunnyvale, California, United States) was recently launched on the global market and is still not documented in Brazil. The authors report on the first four robotic single-port cholecystectomies performed with this da Vinci® Robotic System in Brazil.

scholarly journals Role of Minimally Invasive Surgery in Gynecologic Oncology: An Updated Survey of Members of the Society of Gynecologic Oncology

2015 ◽  
Vol 25 (6) ◽  
pp. 1121-1127 ◽  
Author(s):  
Lesley B. Conrad ◽  
Pedro T. Ramirez ◽  
William Burke ◽  
R. Wendel Naumann ◽  
Kari L. Ring ◽  
...  
Keyword(s):  
Cervical Cancer ◽  
Endometrial Cancer ◽  
Minimally Invasive Surgery ◽  
Robotic Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Single Port ◽  
Gynecologic Oncology ◽  
Pelvic Lymphadenectomy ◽  
Single Port Laparoscopy

ObjectivesTo evaluate the current patterns of use of minimally invasive surgical procedures, including traditional, robotic-assisted, and single-port laparoscopy, by Society of Gynecologic Oncology (SGO) members and to compare the results to those of our 2004 and 2007 surveys.MethodsThe Society of Gynecologic Oncology members were surveyed through an online or mailed-paper survey. Data were analyzed and compared with results of our prior surveys.ResultsFour hundred six (32%) of 1279 SGO members responded. Eighty-three percent of respondents (n = 337) performed traditional laparoscopic surgery (compared with 84% in 2004 and 91% in 2007). Ninety-seven percent of respondents performed robotic surgery (compared with 27% in 2007). When respondents were asked to indicate procedures that they performed with the robot but not with traditional laparoscopy, 75% indicated radical hysterectomy and pelvic lymphadenectomy for cervical cancer. Overall, 70% of respondents indicated that hysterectomy and staging for uterine cancer was the procedure they most commonly performed with a minimally invasive approach. Only 17% of respondents who performed minimally invasive surgery performed single-port laparoscopy, and only 5% of respondents indicated that single-port laparoscopy has an important or very important role in the field.ConclusionsSince our prior surveys, we found a significant increase in the overall use and indications for robotic surgery. Radical hysterectomy or trachelectomy and pelvic lymphadenectomy for cervical cancer and total hysterectomy and staging for endometrial cancer were procedures found to be significantly more appropriate for the robotic platform in comparison to traditional laparoscopy. The indications for laparoscopy have expanded beyond endometrial cancer staging to include surgical management of early-stage cervical and ovarian cancers, but the use of single-port laparoscopy remains limited.

Development of master-slave magnetic anchoring vision robotic system for single-port laparoscopy (SPL) surgery

2018 ◽  
Vol 45 (4) ◽  
pp. 458-468
Author(s):  
Haibo Feng ◽  
Yanwu Zhai ◽  
Yili Fu
Keyword(s):  
Single Port ◽  
Robotic System ◽  
Surgical Robot ◽  
Distribution Analysis ◽  
Robot System ◽  
Content Type ◽  
Blind Area ◽  
Robot Systems ◽  
Single Port Laparoscopy ◽  
And Performance

Purpose Surgical robot systems have been used in single-port laparoscopy (SPL) surgery to improve patient outcomes. This study aims to develop a vision robot system for SPL surgery to effectively improve the visualization of surgical robot systems for relatively complex surgical procedures. Design/methodology/approach In this paper, a new master-slave magnetic anchoring vision robotic system for SPL surgery was proposed. A lighting distribution analysis for the imaging unit of the vision robot was carried out to guarantee illumination uniformity in the workspace during SPL surgery. Moreover, cleaning force for the lens of the camera was measured to assess safety for an abdominal wall, and performance assessment of the system was performed. Findings Extensive experimental results for illumination, control, cleaning force and functionality test have indicated that the proposed system has an excellent performance in providing the visual feedback. Originality/value The main contribution of this paper lies in the development of a magnetic anchoring vision robot system that successfully improves the ability of cleaning the lens and avoiding the blind area in a field of view.

Autonomous Docking of Hybrid-Wheeled Modular Robots with an Integrated Active Genderless Docking Mechanism

2021 ◽  
pp. 1-36
Author(s):  
Shubhdildeep S. Sohal ◽  
Bijo Sebastian ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Visual Servoing ◽  
Mechanical Design ◽  
Low Cost ◽  
Image Plane ◽  
Robotic Systems ◽  
Modular Robots ◽  
Tracking Accuracy ◽  
Drive Mechanism ◽  
Docking Mechanism ◽  
Autonomous Docking

Abstract This paper presents a self-reconfigurable modular robot with an integrated 2-DOF active docking mechanism. Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of large systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile systems and larger robotic systems. The proposed self-reconfigurable mobile robot design exhibits dual mobility using a tracked drive mechanism for longitudinal locomotion and a wheeled drive mechanism for lateral locomotion. The 2-DOF docking interface allows for efficient docking while tolerating misalignments. To aid autonomous docking, visual marker-based tracking is used to detect and re-position the source robot relative to the target robot. The tracked features are then used in Image-Based Visual Servoing to bring the robots close enough for the docking procedure. The hybrid-tracking algorithm allows eliminating external pixelated noise in the image plane resulting in higher tracking accuracy along with faster frame update on a low-cost onboard computational device. This paper presents the overall mechanical design and the integration details of the modular robotic module with the docking mechanism. An overview of the autonomous tracking and docking algorithm is presented along-with a proof-of-concept real world demonstration of the autonomous docking and self-reconfigurability. Experimental results to validate the robustness of the proposed tracking method, as well as the reliability of the autonomous docking procedure, are also presented.

Mechanical Design Requirements Analysis Based on DQFD

2013 ◽  
Vol 12 (23) ◽  
pp. 7222-7227
Author(s):  
Wei Xiong ◽  
Yubing Yu ◽  
Jing Li
Keyword(s):  
Mechanical Design ◽  
Requirements Analysis ◽  
Design Requirements

scholarly journals Glove single-port laparoscopy-assisted transanal total mesorectal excision for low rectal cancer: a preliminary report

2019 ◽  
Vol 17 (1) ◽  
Author(s):  
Wanglin Li ◽  
Boye Dong ◽  
Baifu Peng ◽  
Jiabao Lu ◽  
Zixin Wu ◽  
...  
Keyword(s):  
Rectal Cancer ◽  
Total Mesorectal Excision ◽  
Hospital Stay ◽  
Single Port ◽  
Low Rectal Cancer ◽  
Transanal Total Mesorectal Excision ◽  
Mesorectal Excision ◽  
Single Port Laparoscopy ◽  
The Mean

Abstract Purpose Glove single-port laparoscopy-assisted transanal total mesorectal excision (TaTME) has been successfully carried out in our medical center. The purpose of this study is to evaluate the feasibility of this emerging operation. Methods This technique was performed by self-made glove single-port laparoscopic platform to radically resect low rectal cancer. Short-term postoperative results, including complications, length of hospital stay, and follow-up results were collected and analyzed statistically. Results There are five consecutive patients (three males, two females) who underwent this surgery and included in this study. The mean distance from the tumor to the anal verge was 4.8 cm (range 4.0–6.0). The surgery was completed in all cases, and the rectal tumor was removed successfully without conversion; circumferential margins of all the excised specimens were negative. The mean time of operation was 338.00 min (range 280–400). The average number of lymph node dissection was 12.20. The average postoperative hospital stay was 8.60 days. During the follow-up (14.80 ± 1.92 months), all preventive ileostomies were successfully closed in about 3 months after the surgery, all patients had satisfactory anal function, and no tumor recurrence was found. Conclusion Glove single-port laparoscopy-assisted TaTME has a significant effect in specific patients with low rectal cancer, with rapid recovery and high safety. Prospective randomized studies involving more case counts and long-term follow-up results, especially oncologic outcomes, are needed to validate this technique.

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