A Master–Slave Integrated Surgical Robot With Active Motion Transformation Using Wrist Axis

Miyazaki, Ryoichi; Hirose, Kei; Ishikawa, Yoshiya; Kanno, Takahiro; Kawashima, Kenji

doi:10.1109/tmech.2018.2817212

Cited by 26 publications

(20 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…On the other hand, a handheld type surgical robot that is not teleoperated has been developed. In the clinical practice, the handheld type has the advantages such as easy to setup, large workspace, and low costs . Kymerax (Terumo, Japan) is an electrically driven hand‐held forceps .…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Pneumatically driven surgical forceps displaying a magnified grasping torque

Iwai

Kanno

Miyazaki

et al. 2020

Robotics Computer Surgery

Self Cite

View full text Add to dashboard Cite

Background: Sensing the grasping force and displaying the force for the operator are important for safe operation in robot‐assisted surgery. Although robotic forceps that senses the force by force sensors or driving torque of electric motors is proposed, the force sensors and the motors have some problems such as increase in weight and difficulty of the sterilization. Method: We developed a pneumatically driven robotic forceps that estimates the grasping torque and display the magnified torque for the operator. The robotic forceps has a master device and a slave robot, and they are integrated. In the slave side, the grasping torque is estimated by the pressure change in the pneumatic cylinder. A pneumatic bellows display the torque through a linkage. Results: We confirmed that the slave robot follows the motion of the master, and the grasping torque is estimated in the accuracy of 7 mNm and is magnified and displayed for the operator. Conclusions: The pneumatically driven robotic forceps has the capability in the estimation of the grasping torque and display of the torque. Regarding future work, the usability and fatigues of the surgeons must be evaluated.

show abstract

Section: Introductionmentioning

confidence: 99%

“…In the clinical practice, the handheld type has the advantages such as easy to setup, large workspace, and low costs. 30 Kymerax (Terumo, Japan) is an electrically driven hand-held forceps. 31 FlexDex has a mechanical bending joint, which is intuitively operated by a surgeon.…”

Section: Introductionmentioning

confidence: 99%

Pneumatically driven surgical forceps displaying a magnified grasping torque

Iwai

Kanno

Miyazaki

et al. 2020

Robotics Computer Surgery

Self Cite

View full text Add to dashboard Cite

show abstract

“…Hassan-Zahraee et al [25] developed a lightweight robot with actuators that were separated from the main body. Miyazaki et al [26] proposed a pneumatically driven handheld surgical robot. Sholev [27] and Awtar et al [28] designed a compact handheld surgical robot with a wearable handle.…”

Section: Introductionmentioning

confidence: 99%

System Design of a Novel Minimally Invasive Surgical Robot That Combines the Advantages of MIS Techniques and Robotic Technology

Zhang

Kong

et al. 2020

IEEE Access

View full text Add to dashboard Cite

Existing minimally invasive surgical (MIS) robots are generally large, complex and expensive, which greatly increases the operation cost and limits the applications of MIS robot technology. To solve these problems, a small table-attached MIS robot that combines the high efficiency of the traditional MIS technique and the dexterity of robotic operations is proposed in this paper. The master and slave manipulators of the new robot are integrated, which allows the surgeon to manipulate the robot next to the operation table. Moreover, the novel design can be used with existing MIS instruments, providing surgeons dexterous operation and intuitive motion control with guaranteed operation efficiency. To simplify the structure of the robotic system, a multistage cable transmission structure is established. In addition, to reduce the difficulty of operations, especially suturing operations, a novel surgical instrument is developed with a ''roll-pitch-distal roll'' wrist and a quick-exchange interface. To overcome the uncoordinated hand-eye movement caused by the fulcrum effect, a motion mapping model is established for the robot. A prototype of the robot is developed and subsequently subjected to various tests. The results show that the instrument quick-exchange time is less than 20 s and that the maximum position and orientation trajectory errors are 0.46 mm and 0.87 • , respectively. Finally, the feasibility and effectiveness of the proposed MIS robot are systematically verified through an in vivo animal experiment. INDEX TERMS Animal experiment, cable transmission, MIS robot, motion mapping.

show abstract

“…In recent years, several studies on control methods of master-slave systems incorporating a pneumatic actuator (Girard et al, 2015;Li et al, 2019;Miądlicki, 2018a, 2018b;Sun et al, 2018) as well as studies on medical robots (Miyazaki et al, 2018;Watanabe et al, 2018;Farag et al, 2018;Pfeil et al, 2019) have been reported. Since it is necessary to reproduce the delicate fingertip motion in robot operation, highly accurate positioning control is realized by electronic feedback using sensors.…”

Section: Introductionmentioning

confidence: 99%

Development of a pneumatic master–slave system comprising entirely mechanical components

Moriguchi

Ichikawa

Tagawa

2020

Mechanical Engineering Journal

View full text Add to dashboard Cite

In recent years, master-slave systems with pneumatic actuators, which are necessary to realize a safe and secure society, have attracted increasing attention and are currently being used in the medical and welfare fields. In addition, they are used in disaster-recovery support through application to remote-controlled robots. The master-slave system proposed in this study aims at improving safety and reliability by controlling a pneumatic actuator with mechanical feedback. A characteristic analysis is essential to improve the performance and expand the possibilities for incorporation into practical systems. The purpose of this study is to clarify the performance of a master-slave system comprising only mechanical components and consider possible applications. We have developed a pneumatic master-slave system that uses a one-axis stage and a precision pressure regulator as the master and a pneumatic positioning device as the slave and performed characteristic confirmation experiments. First, we modeled the pneumatic positioning device and compared it with the actual step response. Next, we made a prototype of the master-slave system and conducted characteristic confirmation experiments such as step response and response to repeated inputs. Our experimental results suggest that this system is suitable for applications that require relatively low speeds and positioning accuracies of several millimeters, such as nursing-care assisting systems, transportation-support systems at production sites, and robots with expanded human abilities.

show abstract

A Master–Slave Integrated Surgical Robot With Active Motion Transformation Using Wrist Axis

Cited by 26 publications

References 27 publications

Pneumatically driven surgical forceps displaying a magnified grasping torque

Pneumatically driven surgical forceps displaying a magnified grasping torque

System Design of a Novel Minimally Invasive Surgical Robot That Combines the Advantages of MIS Techniques and Robotic Technology

Development of a pneumatic master–slave system comprising entirely mechanical components

Contact Info

Product

Resources

About