Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator

2010 ◽  
Author(s):  
Carl A. Nelson ◽  
Xiaoli Zhang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Manipulators ◽  
Bevel Gear ◽  
Surgical Tool ◽  
Fixed Base ◽  
Manipulator Design ◽  
Spherical Mechanism

In the design of robotic manipulators for minimally invasive surgery (MIS), the spherical mechanism is a very important kinematic entity, since it can be used to mimic the constraint that the incision point provides to the surgical tool. In previous research by the authors, a bevel-gear-based spherical manipulator was designed whose actuators could be located on a fixed base link. In this paper, concepts of mechanism equivalency are applied to improving the manipulator design. The guidelines arrived at in this work can inform design of future spherical manipulators, especially those created with surgical tool manipulation in mind.

Multi-optimization of a spherical mechanism for minimally invasive surgery

2017 ◽  
Vol 24 (6) ◽  
pp. 1406-1417 ◽  
Author(s):  
Guo-jun Niu ◽  
Bo Pan ◽  
Fu-hai Zhang ◽  
Hai-bo Feng ◽  
Yi-li Fu
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Spherical Mechanism

Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery

Robotica ◽  
2018 ◽  
Vol 37 (7) ◽  
pp. 1202-1213 ◽  
Author(s):  
C. A. Nelson ◽  
M. A. Laribi ◽  
S. Zeghloul
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
System Optimization ◽  
Design Parameters ◽  
Operating Table ◽  
Robot System ◽  
Spherical Linkages ◽  
Spherical Mechanism ◽  
Multi Robot

SUMMARYSerial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting in an unsuitable compromise between avoiding collision with the patient and producing good kinematic and workspace characteristics. In this paper, we propose a multi-robot system composed of two redundant serial spherical linkages to achieve this purpose. A multi-objective optimization for achieving the aforementioned design goals is presented first for a single redundant robot and then for a multi-robot system. The problem of mounting multiple robots on the operating table as well as the way cooperative actions can be performed is addressed. The sensitivity of each optimal solution (single-robot and multi-robot) to uncertainties in the design parameters is investigated.

A Fully Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2011 ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Robots ◽  
Reachable Workspace ◽  
Surgical Tool ◽  
Decoupled Motion ◽  
Tool Motion

In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a critical design challenge for surgical robots. However, although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) RCM mechanism is still highly anticipated. In this paper, a 4-DOF parallel manipulator with a fully decoupled RCM is presented. First, the kinematic structure of the manipulator is described. Then, the fully decoupled motion, i.e., each of the four DOFs of the end-effector can be independently controlled by one corresponding actuated joint, is verified. Further, the inverse kinematics solutions are derived and the reachable workspace of tool tip is analyzed. As a result, the proposed manipulator is a feasible candidate for providing a fully decoupled surgical tool motion for minimally invasive surgery.

scholarly journals Evaluation of long-term stability of monolithic 3D-printed robotic manipulator structures for minimally invasive surgery

2020 ◽  
Vol 15 (10) ◽  
pp. 1693-1697
Author(s):  
Yannick S. Krieger ◽  
Daniel Ostler ◽  
Korbinian Rzepka ◽  
Alexander Meining ◽  
Hubertus Feussner ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Standard Instrument ◽  
Term Stability ◽  
Long Term Stability ◽  
Manipulator Arm ◽  
3D Printed ◽  
Manipulator Design

Abstract Purpose In the era of patient-centered medicine, clinical procedures, tools and instruments should be individually adapted to the patient. In this context, the presented 3D-printed Single-Port Overtube Manipulator System follows the aims to provide patient- and task-specific disposable manipulators for minimally invasive surgery. In a first experiment, the robustness of the monolithic flexure hinge structures in use as robotic manipulators will be investigated. Methods Customizable monolithic manipulator structures designed by means of an automated design process and manufactured with selective laser sintering were investigated with regard to long-term stability in an endurance test. Therefore, a bare manipulator arm, an arm equipped with a standard instrument and finally loaded with an additional load of 0.5 N were evaluated by continuously following a trajectory within the workspace of the manipulator arms over a period of 90 min. Results The unloaded manipulator as well as the manipulator arm equipped with a standard instrument showed a sufficient reproducibility (deviation of 1.5 mm and 2.5 mm, respectively, on average) with regard to an application as telemanipulated master–slave surgical robotic system. The 3D-printed manipulators showed no damage and maintained integrity after the experiment. Conclusion It has been shown that 3D-printed manipulators in principle are suitable for use as disposable surgical manipulator systems and offer a long-term stability over at least 90 min. The developed manipulator design shows great potential for the production of patient-, task- and user-specific robot systems. However, the manipulator geometries as well as the control strategies still show room for improvements.

Mems Tactile Sensors for Surgical Instruments

2003 ◽  
Vol 773 ◽  
Author(s):  
Keith J. Rebello ◽  
Kyle S. Lebouitz ◽  
Michele Migliuolo
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tactile Feedback ◽  
Surgical Instruments ◽  
Tactile Sensors ◽  
Surgical Tools ◽  
Recent Introduction ◽  
Significant Limitation ◽  
Surgical Tool

AbstractThe development of sophisticated endoscopic tools and the recent introduction of robotics are expanding the applications of minimally invasive surgery. The lack of tactile feedback in the currently available endoscopic and robotic telemanipulation systems however represents a significant limitation. A need has arisen for the development of surgical instruments having integrated sensors. Current efforts to integrate sensors into or onto surgical tools has focused on fabrication of sensors on silicon, polyimide, or some other substrate and then attaching the sensors to a tool by hand or machine with epoxy, tape, or some other glue layer. Attaching the sensor in this manner has certain deficiencies. In particular, this method of attaching sensors to a surgical tool limits the sensors size, increases its thickness, and further constrains where the sensor can be placed. A method of fabricating tactile sensors on surgical instruments that addresses these deficiencies is discussed.

scholarly journals Visual Intelligence: Prediction of Unintentional Surgical-Tool-Induced Bleeding during Robotic and Laparoscopic Surgery

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 37
Author(s):  
Mostafa Daneshgar Rahbar ◽  
Hao Ying ◽  
Abhilash Pandya
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Warning System ◽  
Surgical Instruments ◽  
Image Processing Algorithm ◽  
Surgical Tool ◽  
Real Time Image ◽  
Time Image ◽  
Warning Time

Unintentional vascular damage can result from a surgical instrument’s abrupt movements during minimally invasive surgery (laparoscopic or robotic). A novel real-time image processing algorithm based on local entropy is proposed that can detect abrupt movements of surgical instruments and predict bleeding occurrence. The uniform nature of the texture of surgical tools is utilized to segment the tools from the background. By comparing changes in entropy over time, the algorithm determines when the surgical instruments are moved abruptly. We tested the algorithm using 17 videos of minimally invasive surgery, 11 of which had tool-induced bleeding. Our preliminary testing shows that the algorithm is 88% accurate and 90% precise in predicting bleeding. The average advance warning time for the 11 videos is 0.662 s, with the standard deviation being 0.427 s. The proposed approach has the potential to eventually lead to a surgical early warning system or even proactively attenuate tool movement (for robotic surgery) to avoid dangerous surgical outcomes.

Design and Performance of a Surgical Tool Tracking System for Minimally Invasive Surgery

2001 ◽  
Author(s):  
Jeffrey D. Brown ◽  
Jacob Rosen ◽  
Jeff Longnion ◽  
Mika Sinanan ◽  
Blake Hannaford
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tracking System ◽  
Surgical Techniques ◽  
Surgical Robots ◽  
Motion Constraints ◽  
Surgical Tool ◽  
Recovery Times ◽  
And Performance

Abstract Minimally invasive surgery (MIS) is a technique introduced in the mid-1980s in which a few small incisions are made to allow for insertion of surgical tools and a camera through gasketed ports. Smaller incisions speed patient recovery times and lessen the chance of infection. They also introduce new interfaces as compared to more traditional open surgical techniques. These interfaces impose motion constraints and forces on the tool(s) and hand(s). These interfaces are not well characterized, yet surgical simulators and surgical robots are being developed without this vital information.

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