A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery

Ota, Takeyoshi; Degani, Amir; Schwartzman, David; Zubiate, Brett; McGarvey, Jeremy R.; Choset, Howie; Zenati, Marco A.

doi:10.1016/j.athoracsur.2008.10.026

Cited by 111 publications

(63 citation statements)

References 9 publications

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“…Several snake-like robots, made of rigid links or beads that can be locked by tensioning a cable, are presented in the literature [2,122,125]. The ShapeLock technology [127][128][129] is based on a similar locking principle.…”

Section: Medical Devicesmentioning

confidence: 99%

“…The tension of several wires (A) or a central wire (B) is used to lock the segments and to induce a stiffness change. The segments can be beads [122], cylindrical elements connected by spherical joints [1,123] or rigid cylindrical elements [125]. The change of stiffness comes from the friction between the elements due to the tension in the cables [2].…”

Section: Structural Interactionsmentioning

confidence: 99%

See 1 more Smart Citation

Flexible Medical Devices: Review of Controllable Stiffness Solutions

2017

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Abstract:In the medical field and in soft robotics, flexible devices are required for safe human interaction, while rigid structures are required to withstand the force application and accuracy in motion. This paper aims at presenting controllable stiffness mechanisms described in the literature for applications with or without shape-locking performances. A classification of the solutions based on their working principle is proposed. The intrinsic properties of these adaptive structures can be modified to change their mechanical characteristics from a geometrical point of view or equivalent elastic properties (with internal mechanisms or with a change in material properties). These solutions are compared quantitatively, based on selected criteria linked to the medical field as the stiffness range, the activation time and the working conditions. Depending on the application and its requirements, the most suitable solution can be selected following the quantitative comparisons. Several applications of these tunable stiffness structures are proposed and illustrated by examples of the literature.

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Section: Medical Devicesmentioning

confidence: 99%

Section: Structural Interactionsmentioning

confidence: 99%

Flexible Medical Devices: Review of Controllable Stiffness Solutions

2017

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“…In addition to above publications dealing with visual servoing directly, it is also necessary to cite the publications (Ota et al, 2009;Rivera-Serrano et al, 2012) which describe the development of a flexible robot for transoral surgery. It is a snake-like mecanism 10 mm diameter, 300 mm long with 105 degree-of-freedom.…”

Section: Related Developmentsmentioning

confidence: 99%

Epipolar Geometry for Vision-guided Laser Surgery

2013

Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics

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“…Supporting such a task may be accomplished if a future Snakey becomes mechanically actuated, in essence turning it into a robotic interface capable of taking on its own formation (e.g. [12]). Simpler physical synchronization schemes were proposed, requiring the user to be actively involved in the physical well "loading" operation, for example by providing indications of when the physical device has approximately matched its digital parallel by showing green (match) or varying shades of yellow-orange-red (no match) using Snakey's sectional LED lights.…”

Section: Preliminary Evaluation Of Snakeymentioning

confidence: 99%

Designing Snakey: A Tangible User Interface Supporting Well Path Planning

Harris

Young

Sultanum

et al. 2011

Human-Computer Interaction – INTERACT 2011

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Abstract. We present our ongoing design of Snakey, a tangible user interface (TUI) dedicated to the field of reservoir geosciences and engineering. Our design of Snakey emphasizes intuitive manipulation and interaction with 3D curves, common to underground well path exploration and planning. Snakey is not designed to replace the traditional CAD reservoir well path planning tools, but rather to augment them with tangible and collaborative interaction, facilitating spatial exploration during the multi-stage planning processes involved in well path design. Our short paper presents design goals and prototyping solutions relating to Snakey's physicality, sensing technology, input/output mapping, and multi-modal feedback, as well as our findings from a preliminary evaluation of the latest Snakey prototype in a design critique session by experienced reservoir engineers.

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A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery

Abstract: Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.

Cited by 111 publications

References 9 publications

Flexible Medical Devices: Review of Controllable Stiffness Solutions

Flexible Medical Devices: Review of Controllable Stiffness Solutions

Epipolar Geometry for Vision-guided Laser Surgery

Designing Snakey: A Tangible User Interface Supporting Well Path Planning

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