Robot Kinematic Design Studies for Natural Orifice Surgery

2011 ◽  
Author(s):  
Chi Min Seow ◽  
Wei Jian Chin ◽  
Carl A. Nelson
Keyword(s):  
Literature Review ◽  
Degrees Of Freedom ◽  
Robotic Manipulator ◽  
Natural Orifice Surgery ◽  
Natural Orifice ◽  
Surgical Robots ◽  
Design Studies ◽  
Surgical Interventions ◽  
Drive Mechanism ◽  
Kinematic Design

This paper presents kinematic aspects of a multifunctional robotic manipulator for use in natural orifice surgery. A literature review of some existing surgical robots is presented. The robot folding configurations for insertion/removal are described. The kinematics and workspace of the robotic manipulator and their application in a space-constrained environment are explored as well. The main goal is to find out the best way to fully utilize limited degrees of freedom in the robot arms local to the surgical site as well as additional motions provided by the hyper-redundant, underactuated articulated drive mechanism, in order to provide the dexterity and workspace required for typical surgical interventions.

scholarly journals Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

2015 ◽  
Vol 7 (1) ◽  
Author(s):  
Tao Shen ◽  
Carl A. Nelson ◽  
Kevin Warburton ◽  
Dmitry Oleynikov
Keyword(s):  
Endoscopic Surgery ◽  
Robotic Manipulator ◽  
Experimental Results ◽  
Force Transmission ◽  
Natural Orifice ◽  
Drive Mechanism ◽  
Dc Motors ◽  
Preliminary Validation ◽  
Complex Shapes

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

2014 ◽  
Author(s):  
Tao Shen ◽  
Kevin Warburton ◽  
Carl A. Nelson ◽  
Dmitry Oleynikov
Keyword(s):  
Endoscopic Surgery ◽  
Robotic Manipulator ◽  
Experimental Results ◽  
Force Transmission ◽  
Natural Orifice ◽  
Drive Mechanism ◽  
Dc Motors ◽  
Preliminary Validation

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including an articulated snake-like linkage, motor housing and an arm connector. The ADM contains two independent curvature sections which can articulate into complex S shapes for improved access to surgical targets. A connector between the bimanual arms and the ADM provides an efficient and convenient way to assemble and disassemble the system as necessary for insertion and removal of the robot. Four DC motors guide four pairs of cables with linear actuation to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

Design and Analysis of Motion Mechanism Driven by Several IDMs in Parallel

2012 ◽  
Vol 197 ◽  
pp. 55-59 ◽  
Author(s):  
Nan Jiang ◽  
Jun Biao Liu
Keyword(s):  
Degrees Of Freedom ◽  
Design Method ◽  
Piezo Actuator ◽  
Motion Mechanism ◽  
Spherical Motor ◽  
Drive Mechanism ◽  
Follow Up Study ◽  
Analysis Of Motion

As a kind of piezo actuator, impact drive mechanism (IDM) has advantages in precision machinery and instruments. Several IDMs are used in parallel to realize some motion mechanisms which have multi degrees of freedom (DOF). Two motion mechanisms are designed subsequently, and a spherical motor is designed and assembled in principle based on one of them. Experiment results reveal that this design method is feasible, but some problems exist, for example, vibration is serious. These problems should be solved in follow-up study.

International Multicenter Trial on Clinical Natural Orifice Surgery—NOTES IMTN Study: Preliminary Results of 362 Patients

2010 ◽  
Vol 17 (2) ◽  
pp. 142-158 ◽  
Author(s):  
Ricardo Zorron ◽  
Chinnusamy Palanivelu ◽  
Manoel Passos Galvão Neto ◽  
Almino Ramos ◽  
Gustavo Salinas ◽  
...  
Keyword(s):  
Multicenter Trial ◽  
Natural Orifice Surgery ◽  
Natural Orifice ◽  
Preliminary Results ◽  
International Multicenter

Kinematic design and motion analysis of spatial rapier drive mechanisms used in weaving machines

2014 ◽  
Vol 84 (19) ◽  
pp. 2065-2073 ◽  
Author(s):  
Recep Eren ◽  
Mesrur Erturk ◽  
Barıs Hascelik
Keyword(s):  
Motion Analysis ◽  
Kinematic Analysis ◽  
Gear Ratio ◽  
Main Shaft ◽  
Drive Mechanism ◽  
Spatial Mechanism ◽  
Kinematic Design ◽  
Shaft Angle

This paper presents an approach for the kinematic design of a rapier drive mechanism containing a spatial mechanism and analyses rapier motion curve. Kinematic design and analysis equations are derived and then the link lengths of the spatial mechanism are calculated in order to satisfy the critical rapier positions inside and outside the shed. In this way, the portions of one loom revolution, during which the rapiers are inside and outside the shed, are determined. The rapier motion curve is obtained by using kinematic analysis equations. It is shown that the position of the oscillating link in the spatial mechanism and the loom main shaft angle at which the rapier enters the shed have the most significant effect on the rapier motion curve. The gear ratio has also some effect on the rapier motion curve. Different rapier motion curves are obtained by changing these parameters and the suitability of these curves for rapier motion is discussed.

Surgical treatment of rectovaginal fistulas (systematic literature review)

2021 ◽  
pp. 30-48
Author(s):  
Andrei Anatolevich Mudrov ◽  
Aleksandr Yur’evich Titov ◽  
Mariyam Magomedovna Omarova ◽  
Sergei Alekseevich Frolov ◽  
Ivan Vasilevich Kostarev ◽  
...  
Keyword(s):  
Systematic Review ◽  
Clinical Trials ◽  
Literature Review ◽  
Systematic Literature Review ◽  
Meta Analysis ◽  
High Recurrence Rate ◽  
Surgical Interventions ◽  
Rectovaginal Fistulas ◽  
Surgical Treatments

Despite the large number of available surgical interventions aimed at the treatment of rectovaginal fistulas, the results of their use remain extremely disappointing, associated with the high recurrence rate of the disease reaching 80 %, as well as the lack of a single tactic to minimize the risk of anal incontinence and the need for colostomy. Objective: to conduct a systematic literature review in order to summarize information related to the rectovaginal fistulas surgery. The systematic review includes the results of an analysis of 97 clinical trials selected from 756 publications found in databases. Inclusion criteria: a full-text article, the presence of at least 5 patients in the study, as well as data on the outcome of surgery. Clinical trials with different surgical treatments were identified and classified into the following categories: elimination of the rectovaginal septal defect with a displaced flap (rectal and vaginal); Martius surgery; gracilis muscle transposition; transperineal procedure; abdominal procedure including endoscopic and laparoscopic methods; use of biological or biocompatible materials. Treatment outcomes vary significantly from 0 % to > 80 %. None of the studies were randomized. Due to the low quality of the identified studies, comparison of results and meta-analysis conduction were not possible. Conclusion: as a result of the systematic review, data for the analysis and development of any strategic and tactical algorithms for the treatment of RVF were not obtained. The most important questions still remain open: what and when surgical method to choose, is it necessary to form a disconnecting stoma?

Design of Compact 6-DOF Precision Aligner for Micro-Assembly

2009 ◽  
Author(s):  
Yong-Hwan Yoo ◽  
Yeon wook Sung ◽  
Soo-Hun Lee ◽  
Min-Sung Hong ◽  
Moon G. Lee ◽  
...  
Keyword(s):  
High Resolution ◽  
Pid Control ◽  
Degrees Of Freedom ◽  
Voice Coil Motor ◽  
Micro Scale ◽  
Micro Assembly ◽  
Kinematic Design ◽  
6 Degrees Of Freedom

This work will develop a 6 Degrees Of Freedom (DOF) precision aligner with a small size and a high resolution for the assembly of the micro-scale parts used in mobile electronics. The arrangement of actuators in the aligner is symmetrical, based on kinematic design. A VCM (Voice Coil Motor) actuator that is small and reliable will be applied to this aligner system. This paper presents the combination of two modules to form the mechanism for the 6-DOF precision aligner. The first is a stage that can control XY θZ motion, while the second can control Z motion, i.e. Z tilt motion. According to its specifications, it is expected to satisfy precision requirements. Several tests will be carried out to confirm the specifications with PID control.

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