A Skeletal Prototype of Surgical Arm Based on Dual-Triangular Mechanism

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Shao T. Liu ◽  
Laurence Harewood ◽  
Bernard Chen ◽  
Chao Chen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Arms ◽  
The One ◽  
Sufficient Space

The parallelogram-based remote center of motion (RCM) mechanism used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between the robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel mechanism with RCM, dual-triangular linkage (DT-linkage), is introduced to reduce the occupied space by the linkage while keeping sufficient space around the incision. Hence, the chance of collisions among arms and tools can be reduced. The concept of this dual-triangular linkage is proven mathematically and validated by a prototype. Auxiliary mechanisms are introduced to remove the singularity at the fully folded configuration. The characterized footprints of this new linkage and the one based on parallelograms are analyzed and compared.

scholarly journals Observer-based controller design for the minimally invasive surgery

2018 ◽  
Vol 4 (1) ◽  
pp. 41-44 ◽  
Author(s):  
Eike Smolinski ◽  
Alexander Benkmann ◽  
Wolfgang Drewelow ◽  
Torsten Jeinsch ◽  
Hans-Joachim Cappius
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Controller Design ◽  
Point Of View ◽  
Observer Design ◽  
Operation Technique ◽  
Standard Operation ◽  
Minimal Trauma ◽  
Sufficient Space

AbstractDue to its advantages like minimal trauma and a low risk of infections, the minimally invasive surgery (MIS) has become the standard operation technique for many surgical procedures. During this type of intervention, one of the main tasks from a technical point of view is the control of the pressure in the operation area in order to give the surgeon sufficient space to perform his actions. Because no invasive measurements are available, an extended Kalman filter incorporating the peristaltic behavior of the used medical device was developed to estimate the pressure in the operation area. This contribution focuses on the observer design while a separately designed PI controller using loop shaping was employed for validation. The proposed observer-based control structure was tested with a simulator deploying the principle of physical equivalence.

scholarly journals Automation of Suturing Path Generation for da Vinci-Like Surgical Robotic Systems

2018 ◽  
Author(s):  
Hossein Dehghani ◽  
Shane Farritor ◽  
Dmitry Oleynikov ◽  
Benjamin Terry
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Da Vinci ◽  
Robotic Arms ◽  
Patient Pain ◽  
Motion Scaling ◽  
Hand Coordination ◽  
Patient Side ◽  
Tissue Trauma

Minimally invasive surgery (MIS) has substantially improved surgery by reducing patient pain, discomfort, and tissue trauma [1]. MIS, however, has shortcomings including limited workspace, reduced surgeon’s dexterity, and poor eye-hand coordination [2]. Robot-assisted minimally invasive surgery (RMIS) has aimed to mitigate these limitations [3]. The da Vinci® Surgical System (Intuitive Surgical, Inc., Sunnyvale, CA) is the-state-of-the-art RMIS, in which the surgeon operates by using the console’s master controllers to maneuver the patient-side robotic arms, where the surgeon’s hand movements are refined through motion scaling and tremor reduction. Over half a million procedures are performed using the da Vinci annually [4].

Improving backdrivability in preoperative manual manipulability of minimally invasive surgery robot

2018 ◽  
Vol 45 (1) ◽  
pp. 127-140 ◽  
Author(s):  
Shuizhong Zou ◽  
Bo Pan ◽  
Yili Fu ◽  
Shuixiang Guo
Keyword(s):  
Kalman Filter ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Control Algorithm ◽  
Industrial Robot ◽  
Universal Method ◽  
Content Type ◽  
Robotic Arms

Purpose The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual manipulations of robotic arms can be performed in the preoperative operation. Design/methodology/approach First, the flexible-joint dynamic model of the 3-degree of freedom remote center motion (RCM) mechanisms of minimally invasive surgery (MIS) robot is derived and its dynamic parameters and friction parameters are identified. Next, the angular velocities and angular accelerations of joints are estimated in real time by the designed Kalman filter. Finally, a control algorithm based on Kalman filter is proposed to enhance the backdrivability of RCM mechanisms by compensating for the internally generated gravitational, frictional and inertial resistances experienced during the positioning and orientating. Findings The parameter identification for RCM mechanisms can be experimentally evaluated from comparison between the measured torques and the reconstructed torques. The accuracy and convergence of the real-time estimation of angular velocity and acceleration of the joint by the designed Kalman filter can be verified from corresponding simulation experiments. Manual adjustment experiments and animal experiments validate the effectiveness of the proposed backdrivability control algorithm. Research limitations/implications The backdrivability control algorithm presented in this paper is a universal method to enhance the manual operation performance of robots, which can be used not only in the medical robot preoperative manual manipulation but also in robot haptic interaction, industrial robot direct teaching and active rehabilitation training of rehabilitation robot and so on. Originality/value Compared with other backdrivability design methods, the proposed algorithm achieves good backdrivability for RCM mechanisms without using force sensors and accelerometers. In addition, this paper presents a new static friction compensation approach for a joint moving with very low velocity.

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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