3D shape tracking of minimally invasive surgical instruments using OFDR in optical fibers (Conference Presentation)

2016 ◽  
Author(s):  
François Parent ◽  
Koushik Kanti Mandal ◽  
Sébastien Loranger ◽  
Eric Hideki Watanabe Fernandes ◽  
Samuel Kadoury ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Optical Fibers ◽  
Surgical Instruments ◽  
3D Shape ◽  
Minimally Invasive Surgical ◽  
Shape Tracking

scholarly journals Design and analysis of a fiber-optic sensing system for shape reconstruction of a minimally invasive surgical needle

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Aizhan Issatayeva ◽  
Aida Amantayeva ◽  
Wilfried Blanc ◽  
Daniele Tosi ◽  
Carlo Molardi
Keyword(s):  
Performance Analysis ◽  
Minimally Invasive ◽  
Optical Fibers ◽  
Single Mode ◽  
Spectral Shift ◽  
Shape Reconstruction ◽  
Minimally Invasive Surgical ◽  
Working Principle ◽  
Doped Fibers ◽  
Distributed Measurement

AbstractThis paper presents the performance analysis of the system for real-time reconstruction of the shape of the rigid medical needle used for minimally invasive surgeries. The system is based on four optical fibers glued along the needle at 90 degrees from each other to measure distributed strain along the needle from four different sides. The distributed measurement is achieved by the interrogator which detects the light scattered from each section of the fiber connected to it and calculates the strain exposed to the fiber from the spectral shift of that backscattered light. This working principle has a limitation of discriminating only a single fiber because of the overlap of backscattering light from several fibers. In order to use four sensing fibers, the Scattering-Level Multiplexing (SLMux) methodology is applied. SLMux is based on fibers with different scattering levels: standard single-mode fibers (SMF) and MgO-nanoparticles doped fibers with a 35–40 dB higher scattering power. Doped fibers are used as sensing fibers and SMFs are used to spatially separate one sensing fiber from another by selecting appropriate lengths of SMFs. The system with four fibers allows obtaining two pairs of opposite fibers used to reconstruct the needle shape along two perpendicular axes. The performance analysis is conducted by moving the needle tip from 0 to 1 cm by 0.1 cm to four main directions (corresponding to the locations of fibers) and to four intermediate directions (between neighboring fibers). The system accuracy for small bending (0.1–0.5 cm) is 90$$\%$$ % and for large bending (0.6–1 cm) is approximately 92$$\%$$ % .

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

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Uniportal thoracoscopic right anterior basal (S8) segmentectomy using unidirectional dissection

2021 ◽  
Keyword(s):  
Minimally Invasive ◽  
Surgical Procedure ◽  
Lower Lobe ◽  
Lung Parenchyma ◽  
Surgical Instruments ◽  
Thoracoscopic Approach ◽  
Minimally Invasive Surgical Procedure ◽  
Small Incision ◽  
Minimally Invasive Surgical ◽  
The Right

Anterior basal (S8) segmentectomy is one of the most challenging procedures among the uncommon pulmonary segmentectomies because the surgeon has to identify dominant pulmonary vein branches located deep in the lung parenchyma. Moreover, with the uniportal thoracoscopic approach, the angulation of inserted surgical instruments via a single small incision is extremely limited, which causes technical difficulties. However, adoption of a suitable procedure such as unidirectional dissection enables us to perform this type of minimally invasive surgical procedure. We describe the successful results of a patient undergoing uniportal thoracoscopic S8 segmentectomy of the right lower lobe and explain the nuances of performing it.

Cylindrical Developable Mechanisms for Minimally Invasive Surgical Instruments

2019 ◽  
Author(s):  
Kenny Seymour ◽  
Jacob Sheffield ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Minimally Invasive ◽  
Potential Functions ◽  
Surgical Instruments ◽  
Curved Surfaces ◽  
Paper Properties ◽  
Minimally Invasive Surgical ◽  
Cylindrical Shaft ◽  
Surgical Devices ◽  
Kinematic Mechanisms

Abstract Developable mechanisms conform to and emerge from developable, or specially curved, surfaces. The cylindrical developable mechanism can have applications in many industries due to the popularity of cylindrical or tube-based devices. Laparoscopic surgical devices in particular are widely composed of instruments attached at the proximal end of a cylindrical shaft. In this paper, properties of cylindrical developable mechanisms are discussed, including their behaviors, characteristics, and potential functions. One method for designing cylindrical developable mechanisms is discussed. Two example developable surgical devices that exemplify these behaviors, characteristics, and functions, along with the kinematic mechanisms comprising them, are discussed in detail.

3D shape tracking of minimally invasive medical instruments using optical frequency domain reflectometry

2016 ◽  
Author(s):  
Francois Parent ◽  
Koushik Kanti Mandal ◽  
Sebastien Loranger ◽  
Eric Hideki Watanabe Fernandes ◽  
Raman Kashyap ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Frequency Domain ◽  
Optical Frequency ◽  
3D Shape ◽  
Optical Frequency Domain Reflectometry ◽  
Medical Instruments ◽  
Frequency Domain Reflectometry ◽  
Shape Tracking

Attaining high bending stiffness by full actuation in steerable minimally invasive surgical instruments

2014 ◽  
Vol 24 (2) ◽  
pp. 77-85 ◽  
Author(s):  
Filip Jelínek ◽  
Giada Gerboni ◽  
Paul W. J. Henselmans ◽  
Rob Pessers ◽  
Paul Breedveld
Keyword(s):  
Minimally Invasive ◽  
Bending Stiffness ◽  
Surgical Instruments ◽  
Minimally Invasive Surgical

Application of Pulsating Vacuum Cleaning Technology to Medical Devices Cleaning

2022 ◽  
Vol 12 (5) ◽  
pp. 984-988
Author(s):  
Yan-Qiu Yang ◽  
Shuo-Yang Zhao
Keyword(s):  
Minimally Invasive ◽  
Medical Devices ◽  
Surgical Instruments ◽  
Loading Capacity ◽  
Complex Structures ◽  
Cleaning Efficiency ◽  
Minimally Invasive Surgical ◽  
Cleaning Machine ◽  
Vacuum Cleaning ◽  
Cleaning Technology

This study aims to solve existing problems in cleaning medical devices, such as the cumbersome loading of minimally invasive surgical instruments, the incomplete cleaning of instruments with complex structures, and the low cleaning efficiency of ordinary instruments. A pulsating vacuum cleaning machine was combined with ultrasonic cleaning and boiling cleaning technology to clean various complex medical devices through a pressure pulsating process (i.e., repetitive pump-out and pumpin until the cleaning results meet the cleaning standards for medical devices). The cleaning results of spay washing, ultrasound cleaning and pulsating vacuum cleaning were compared among four groups of medical devices, including silica gel hoses, chamber instruments, whole box of minimally invasive instruments and surgical instruments. The amount of protein residues was tested using the spectrophotometric method. The testing results revealed that the loading capacity of a pulsating vacuum cleaning machine is 3–4 times as much as that of an ordinary spray cleaning machine, without manual placement and connection operation required, which reduced the workload of pretreatment. The protein residue after cleaning meets the requirements of the YY/T0734 standard for the cleaning effect of medical devices. Pulsating vacuum cleaning technology has an overall better loading capacity, when compared to spay washing and ultrasound cleaning, and this can make up for the shortcomings of commonly used cleaning machines, such as the low cleaning efficiency and unsatisfactory cleaning results of medical devices with complex structures.

Systems for tracking minimally invasive surgical instruments

2007 ◽  
Vol 16 (6) ◽  
pp. 328-340 ◽  
Author(s):  
M. K. Chmarra ◽  
C. A. Grimbergen ◽  
J. Dankelman
Keyword(s):  
Minimally Invasive ◽  
Surgical Instruments ◽  
Minimally Invasive Surgical
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