A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries

Yin, Zhanpeng; Hong, Yuan; Sun, Xiaoyu; Shen, Zhiyuan; Zhang, Yingxuan; Ju, Feng; Drinkwater, Bruce W.

doi:10.1109/iros47612.2022.9981700

Cited by 5 publications

(2 citation statements)

References 20 publications

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“…In this section, an ultrasonic positioning sensing algorithm named b‐TFM [ 28 ] is introduced. This algorithm is adapted from phased ultrasonic arrays imaging [ 29 ] in which the array elements act as both transmitters and receivers.…”

Section: System Operating Principlesmentioning

confidence: 99%

A Flexible Surgical Robot with Hemispherical Magnet Array Steering and Embedded Piezoelectric Beacon for Ultrasonic Position Sensing

Ju,

Gu,

Chen

et al. 2024

Advanced Intelligent Systems

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This article proposes a flexible surgical robot featuring strong magnetic steering achieved by a hemispherical magnet array actuation, and high‐accuracy ultrasonic position sensing achieved by a beacon total focusing method (b‐TFM). The hemispherical magnet array with magnetic focusing is described and its array parameters are optimized through finite element analysis to increase the magnetic field for actuation. The magnetic field strength at 100 mm for the array with the same mass as the cylindrical magnet is about 1.8 times higher than that of the cylindrical magnet. Using the magnet array actuation, the flexible robot exhibits the capability of agile steering to navigate along a predefined trajectory. In addition, a 1 mm × 1 mm lead zirconate titanate (PZT) patch is embedded into the tip of the flexible robot as a beacon for b‐TFM ultrasonic imaging to detect the position of the robot. Therefore, the entire navigation process can be executed under the supervision of the ultrasonic position sensing system, and the maximum error is 0.8 mm when the steering radius is 100 mm.

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Section: System Operating Principlesmentioning

confidence: 99%

A Flexible Surgical Robot with Hemispherical Magnet Array Steering and Embedded Piezoelectric Beacon for Ultrasonic Position Sensing

Ju,

Gu,

Chen

et al. 2024

Advanced Intelligent Systems

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“…Moreover, advancements in sensing technology have led to the development of innovative components. For example, study of Yin et al [ 285 ] introduced a novel miniature continuum surgical robot, characterized by a multi‐material laminated structure. This design enables the integration of small piezoelectric transducers on the robot's surface, functioning as beacons to emit ultrasonic waves for the shape detection of the continuum robot.…”

Section: State‐of‐the‐art Continuum Robotics Technology For Endoscopi...mentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

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In this study, an innovative exploration of leveraging bionics and continuum robotics principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by the flexibility and adaptability of organisms like snakes and octopuses, the continuum robot concept aims to address the inherent challenges in traditional arthroscopy, including lower precision, manual tremors, and long surgeon learning curves. The implementation of these principles in the human body, however, faces significant obstacles, particularly achieving high‐performance motion control amid strong nonlinearity and coupling between modules. This research focuses on intelligent integration and enhanced safety in human‐machine interaction, aiming for improved control precision and flexibility in arthroscopic procedures. A thorough literature review of endoscopic continuum robots is conducted, highlighting current advancements in actuation, structure, sensing, and control technologies. The study concludes with an assessment of these technologies, their limitations, and future potential, in light of the unique demands of arthroscopic continuum robots. This comprehensive review bridges bionics and robotics, presenting the opportunities and challenges in applying continuum robotics to arthroscopic surgery. The goal is to encourage further research in this area, contributing to the development of prototype robots that enhance the precision and safety of arthroscopic surgery.

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Magnet Array-Actuated Steerable Flexible Robot with Beacon-TFM Ultrasonic Position Sensing for Robotic Neurosurgery

Gu,

Zhang,

Sun

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries

Cited by 5 publications

References 20 publications

A Flexible Surgical Robot with Hemispherical Magnet Array Steering and Embedded Piezoelectric Beacon for Ultrasonic Position Sensing

A Flexible Surgical Robot with Hemispherical Magnet Array Steering and Embedded Piezoelectric Beacon for Ultrasonic Position Sensing

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Magnet Array-Actuated Steerable Flexible Robot with Beacon-TFM Ultrasonic Position Sensing for Robotic Neurosurgery

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