Design and control of MR haptic master/slave robot system for minimally invasive surgery

2013 ◽  
Author(s):  
Chang-Ho Uhm ◽  
Phoung Bac Nguyen ◽  
Seung-Bok Choi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robot System ◽  
And Control

Lapabot: A compact telesurgical robot system for minimally invasive surgery: Part II. Telesurgery evaluation

2011 ◽  
Vol 21 (3) ◽  
pp. 195-200 ◽  
Author(s):  
Jun Woo Park ◽  
Duck Hee Lee ◽  
Young Woo Kim ◽  
Byeong Han Lee ◽  
Yung Ho Jo
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robot System

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.

scholarly journals Teach and Playback Training Device for Minimally Invasive Surgery

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Sriram Garudeswaran ◽  
Sohyung Cho ◽  
Ikechukwu Ohu ◽  
Ali K. Panahi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Length Of Hospital Stay ◽  
The Body ◽  
Complex Nature ◽  
Training Device ◽  
Surgical Residents ◽  
Work Area ◽  
And Control

Recent technological progress offers the opportunity to significantly transform conventional open surgical procedures in ways that allow minimally invasive surgery (MIS) to be accomplished by specific operative instruments’ entry into the body through key-sized holes rather than large incisions. Although MIS offers an opportunity for less trauma and quicker recovery, thereby reducing length of hospital stay and attendant costs, the complex nature of this procedure makes it difficult to master, not least because of the limited work area and constricted degree of freedom. Accordingly, this research seeks to design a Teach and Playback device that can aid surgical training by key-framing and then reproducing surgical motions. The result is an inexpensive and portable Teach and Playback laparoscopic training device that can record a trainer’s surgical motions and then play them back for trainees. Indeed, such a device could provide a training platform for surgical residents generally and would also be susceptible of many other applications for other robot-assisted tasks that might require complex motion training and control.

An ER Haptic Master-Slave Robot System for the Minimally Invasive Surgery

2013 ◽  
Vol 278-280 ◽  
pp. 551-555
Author(s):  
Won Ki Shin ◽  
Seung Bok Choi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tracking Control ◽  
Repulsive Force ◽  
Position Tracking ◽  
Robot System ◽  
Position Tracking Control

In this research, a slave robot is proposed and integrated with an electrorheological (ER) haptic master for minimally invasive surgery (MIS). A novel mechanism of the slave robot with a gimbal joint is developed to realize 4-DOF motions. The proposed slave robot consists of two arms, gimbal joint and fixed bar. The haptic master can generate a repulsive force as well as position motion for the slave robot. The manufactured slave robot and haptic master are remotely connected with each other via TCP/IP communications. Both repulsive force and position tracking control are evaluated in experiment.

scholarly journals Control of haptic master – slave robot system for minimally invasive surgery (MIS)

2013 ◽  
Vol 412 ◽  
pp. 012041 ◽  
Author(s):  
J S Oh ◽  
W K Shin ◽  
C H Uhm ◽  
S R Lee ◽  
Y M Han ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robot System
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