Development of a Pneumatic Surgical Manipulator IBIS IV

2010 ◽  
Vol 22 (2) ◽  
pp. 179-188 ◽  
Author(s):  
Kotaro Tadano ◽  
◽  
Kenji Kawashima ◽  
Kazuyuki Kojima ◽  
Naofumi Tanaka ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Force Measurement ◽  
Use Of Force ◽  
Robotic Manipulators ◽  
Force Estimation ◽  
Improved Model ◽  
External Forces ◽  
Surgical Manipulator

In teleoperated, minimally invasive surgery systems, the measurement and conveyance of a sense of force to the operator is problematic. In order to carry out safer and more precise operations using robotic manipulators, force measurement and operator feedback are very important factors. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the force estimation had a sensitivity of only 3 N because of inertia and friction effects. In this paper, we develop a new and improved model of the pneumatic surgical manipulator, IBIS IV. We evaluate its performance in terms of force estimation. The experimental results indicate that IBIS IV estimates external forces with a sensitivity of 1.0 N. We also conduct an in-vivo experiment and confirm the effectiveness and improvement of the manipulator.

scholarly journals Real-Time Expanded Field-of-View for Minimally Invasive Surgery Using Multi-Camera Visual Simultaneous Localization and Mapping

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2106
Author(s):  
Ahmed Afifi ◽  
Chisato Takada ◽  
Yuichiro Yoshimura ◽  
Toshiya Nakaguchi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Simultaneous Localization And Mapping ◽  
Field Of View ◽  
Time Dynamic ◽  
Matrix Estimation ◽  
Localization And Mapping

Minimally invasive surgery is widely used because of its tremendous benefits to the patient. However, there are some challenges that surgeons face in this type of surgery, the most important of which is the narrow field of view. Therefore, we propose an approach to expand the field of view for minimally invasive surgery to enhance surgeons’ experience. It combines multiple views in real-time to produce a dynamic expanded view. The proposed approach extends the monocular Oriented features from an accelerated segment test and Rotated Binary robust independent elementary features—Simultaneous Localization And Mapping (ORB-SLAM) to work with a multi-camera setup. The ORB-SLAM’s three parallel threads, namely tracking, mapping and loop closing, are performed for each camera and new threads are added to calculate the relative cameras’ pose and to construct the expanded view. A new algorithm for estimating the optimal inter-camera correspondence matrix from a set of corresponding 3D map points is presented. This optimal transformation is then used to produce the final view. The proposed approach was evaluated using both human models and in vivo data. The evaluation results of the proposed correspondence matrix estimation algorithm prove its ability to reduce the error and to produce an accurate transformation. The results also show that when other approaches fail, the proposed approach can produce an expanded view. In this work, a real-time dynamic field-of-view expansion approach that can work in all situations regardless of images’ overlap is proposed. It outperforms the previous approaches and can also work at 21 fps.

Dynamic Modeling of an Innovative Piezoelectric Actuator for Minimally Invasive Surgery

1999 ◽  
Author(s):  
Benjamin Edinger ◽  
Mary Frecker ◽  
John Gardner
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Dynamic Model ◽  
Invasive Surgery ◽  
Force Measurement ◽  
Equations Of Motion ◽  
Measurement Model ◽  
End Effector ◽  
Simulation Results ◽  
Optimal Driving

Abstract A small piezoelectric inchworm actuator has been designed for use with a monolithic compliant end-effector in minimally invasive surgery procedures. A dynamic model of the inchworm actuator has been developed using SIMULINK. Utilizing the equations of motion for the inchworm actuator, the dynamic characteristics of the piezoelectric stack material, and the known compliance of the gripper, a force measurement model has been developed which extracts resisting force information from the piezoelectric signal. The focus of this paper is on the development of the dynamic model and the results of a simulation study that will be used to develop optimal driving signals for the inchworm actuator. Simulation results include the predicted displacement capabilities and settling time of the inchworm actuator over a range of driving frequencies.

Design and preliminary in vivo validation of a robotic laparoscope holder for minimally invasive surgery

2009 ◽  
Vol 5 (3) ◽  
pp. 319-326 ◽  
Author(s):  
Benoît Herman ◽  
Bruno Dehez ◽  
Khanh Tran Duy ◽  
Benoît Raucent ◽  
Etienne Dombre ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
In Vivo Validation

scholarly journals Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

2021 ◽  
Vol 10 (2) ◽  
pp. 619-631
Author(s):  
Sakol Nakdhamabhorn ◽  
M. Branesh Pillai ◽  
Jackrit Suthakorn
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Reaction Force ◽  
Motion Error ◽  
Hand Dexterity ◽  
Internal Disturbance ◽  
Surgical Manipulation ◽  
Surgical Manipulator

Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF Bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response.

Transparency Improvement by External Force Estimation in a Time-Delayed Nonlinear Bilateral Teleoperation System

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
H. Amini ◽  
S. M. Rezaei ◽  
Ahmed A. D. Sarhan ◽  
J. Akbari ◽  
N. A. Mardi
Keyword(s):  
Control Algorithm ◽  
Force Measurement ◽  
Bilateral Teleoperation ◽  
Force Estimation ◽  
Teleoperation System ◽  
Control Scheme ◽  
Environmental Force ◽  
The Stability ◽  
External Forces ◽  
Teleoperation Systems

Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control scheme could effectively improve transparency. However, the main restriction is force measurement in micromanipulation scales. A new modified strategy for estimating the external forces acting on the master and slave robots is the major contribution of this paper. The main advantage of this strategy is that the necessity for force sensors is eliminated, leading to lower cost and further applicability. A novel control algorithm with estimated force signals is proposed for a general nonlinear macro–micro bilateral teleoperation system with time delay. The stability condition in the macro–micro teleoperation system with the new control algorithm is verified by means of Lyapunov stability analysis. The designed control algorithm guarantees stability of the macro–micro teleoperation system in the presence of an estimated operator and environmental force. Experimental results confirm the efficiency of the novel control algorithm in position tracking and force reflection.

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