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.

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.

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.

Minimally Invasive Surgery: Equipment and Troubleshooting

2019 ◽  
Author(s):  
Jacob A. Greenberg ◽  
Laura E. Fischer
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Surgical Instruments ◽  
Single Site ◽  
Processing Unit ◽  
Solid Organ ◽  
Video Monitor ◽  
Energy Devices ◽  
Basic Set

The field of minimally invasive surgery has evolved rapidly since the first laparoscopic appendectomies and cholecystectomies were performed nearly 30 years ago.1 Minimally invasive approaches are now widely used for gastrointestinal resection, hernia repair, antireflux surgery, bariatric surgery, and solid-organ surgery, such as hepatic, pancreatic, adrenal, and renal resections. Although the techniques and equipment needed to access, expose, and dissect vary according to the type of operation and surgeon’s preference, a basic set of equipment is essential for any laparoscopic or robotic procedure: endoscope, camera, light source, signal processing unit, video monitor, insufflator and gas supply, trocars, and surgical instruments. Understanding how to use and troubleshoot this equipment is critical for any surgeon who performs minimally invasive surgery. We review the essentials of basic laparoscopic equipment, including the mechanics of normally functioning equipment and the various types of laparoscopic trocars and instruments. We also discuss robotic equipment and the fundamental differences from laparoscopy. Minilaparoscopy and single-site equipment are briefly explained. Additionally, we discuss potential technical difficulties that surgeons may encounter while performing minimally invasive procedures and provide suggestions for troubleshooting these problems. This review 13 figure, 2 tables, and 64 references.Key Words: Laparoscopy, Robotic Surgery, Minimally Invasive Surgery, Laparoscopic Surgery, Trocars, Surgical Energy Devices, Insufflator, Laparoscopic Instrumentation, Ergonomics, Single Site Surgery

Development of a mechanical decoupling surgical scissors for robot-assisted minimally invasive surgery

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xingze Jin ◽  
Mei Feng ◽  
Zhiwu Han ◽  
Ji Zhao ◽  
Hankun Cao ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Wrist Joint ◽  
Surgical Instruments ◽  
Gear Train ◽  
Test Results ◽  
Surgical Instrument ◽  
Decoupling Method ◽  
Stable Performance

Abstract In minimally invasive surgery, surgical instruments with a wrist joint have better flexibility. However, the bending motion of the wrist joint causes a coupling motion between the end-effector and wrist joint, affecting the accuracy of the movement of the surgical instrument. Aiming at this problem, a new gear train decoupling method is proposed in the paper, which can automatically compensate for the coupled motion in real-time. Based on the performance tests of the instrument prototype, a series of decoupling effects tests are carried out. The test results show that the surgical instrument has excellent decoupling ability and stable performance.

Design and Evaluation of a Dexterous and Modular Hand-Held Surgical Robot for Minimally Invasive Surgery

2019 ◽  
Vol 13 (4) ◽  
Author(s):  
Yingkan Yang ◽  
Kang Kong ◽  
Jianmin Li ◽  
Shuxin Wang ◽  
Jinhua Li
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Surgical Robot ◽  
Surgical Instruments ◽  
Surgical Performance ◽  
Conventional Instrument ◽  
End Effectors ◽  
Intuitive Interface

Abstract Current surgical instruments with fewer degrees-of-freedom (DOF) for minimally invasive surgery (MIS) have limited capability to perform complicated and precise procedures, such as suturing and knot-tying. To address such a problem, a modular dexterous hand-held surgical robot with an ergonomic handle and 4DOF interchangeable instruments was developed. The kinematic arrangement of the instrument and that of the handle were designed to be the same. A compact roll-yaw-roll transmission was proposed applying cable-driven mechanism. Performance experiments were carried out to evaluate the effectiveness of the overall system. The measured grip forces of the robot ranged from 8.63 N to 19.18 N. The suturing performance score of the robot was significantly higher than that of the conventional instrument (28.8 ± 5.02 versus 17.2 ± 7.43, p = 0.041). The trajectory tracking test and animal experiment verified the accuracy and feasibility of the robot. The proposed robot could improve the surgical performance of MIS, providing various end-effectors and having an intuitive interface in the meantime.

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.

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.

scholarly journals Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies

2022 ◽  
Vol 8 ◽  
Author(s):  
Wael Othman ◽  
Zhi-Han A. Lai ◽  
Carlos Abril ◽  
Juan S. Barajas-Gamboa ◽  
Ricard Corcelles ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Emerging Technologies ◽  
Surgical Instruments ◽  
Force Sensing ◽  
Tactile Sensing ◽  
Robotic Assisted ◽  
Surgical Tools ◽  
Robotic Assisted Surgery

As opposed to open surgery procedures, minimally invasive surgery (MIS) utilizes small skin incisions to insert a camera and surgical instruments. MIS has numerous advantages such as reduced postoperative pain, shorter hospital stay, faster recovery time, and reduced learning curve for surgical trainees. MIS comprises surgical approaches, including laparoscopic surgery, endoscopic surgery, and robotic-assisted surgery. Despite the advantages that MIS provides to patients and surgeons, it remains limited by the lost sense of touch due to the indirect contact with tissues under operation, especially in robotic-assisted surgery. Surgeons, without haptic feedback, could unintentionally apply excessive forces that may cause tissue damage. Therefore, incorporating tactile sensation into MIS tools has become an interesting research topic. Designing, fabricating, and integrating force sensors onto different locations on the surgical tools are currently under development by several companies and research groups. In this context, electrical force sensing modality, including piezoelectric, resistive, and capacitive sensors, is the most conventionally considered approach to measure the grasping force, manipulation force, torque, and tissue compliance. For instance, piezoelectric sensors exhibit high sensitivity and accuracy, but the drawbacks of thermal sensitivity and the inability to detect static loads constrain their adoption in MIS tools. Optical-based tactile sensing is another conventional approach that facilitates electrically passive force sensing compatible with magnetic resonance imaging. Estimations of applied loadings are calculated from the induced changes in the intensity, wavelength, or phase of light transmitted through optical fibers. Nonetheless, new emerging technologies are also evoking a high potential of contributions to the field of smart surgical tools. The recent development of flexible, highly sensitive tactile microfluidic-based sensors has become an emerging field in tactile sensing, which contributed to wearable electronics and smart-skin applications. Another emerging technology is imaging-based tactile sensing that achieved superior multi-axial force measurements by implementing image sensors with high pixel densities and frame rates to track visual changes on a sensing surface. This article aims to review the literature on MIS tactile sensing technologies in terms of working principles, design requirements, and specifications. Moreover, this work highlights and discusses the promising potential of a few emerging technologies towards establishing low-cost, high-performance MIS force sensing.

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