A Novel Design for Steerable Instruments Based on Laser-Cut Nitinol

Dewaele, Frank; Kalmar, Alain; Ryck, Frédéric De; Lumen, Nicolaas; Williams, Leonie; Baert, Edward; Vereecke, Hugo; Okito, Jean Pierre Kalala; Mabilde, Cyriel; Blanckaert, Bart; Keereman, Vincent; Leybaert, Luc; Nieuwenhove, Yves Van; Caemaert, Jacques; Roost, Dirk Van

doi:10.1177/1553350613508015

Cited by 17 publications

(7 citation statements)

References 19 publications

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“…Journal of Mechanisms and Robotics. Received August 07, 2020; Accepted manuscript posted December 02, 2020. doi:10.1115/1.4049491 Copyright © 2021 by ASME that slide together concentrically to form a single tube [49]. The design offers additional flexibility due to narrow cuts in the tube and more room in the lumen as the steering mechanism resides in the tubular wall.…”

Section: Accepted Manuscript N O T C O P Y E D I T E Dmentioning

confidence: 99%

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Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

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Current surgical devices are mostly rigid and are made of stiff materials, even though their predominant use is on soft and wet tissues. With the emergence of compliant mechanisms (CMs), surgical tools can be designed to be flexible and made using soft materials. CMs offer many advantages such as monolithic fabrication, high precision, no wear, no friction, and no need for lubrication. It is therefore beneficial to consolidate the developments in this field and point to challenges ahead. With this objective, in this article, we review the application of CMs to surgical interventions. The scope of the review covers five aspects that are important in the development of surgical devices: (i) conceptual design and synthesis, (ii) analysis, (iii) materials, (iv) manufacturing, and (v) actuation. Furthermore, the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployable devices. The scope and prospects of surgical devices using CMs are also discussed.

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Section: Accepted Manuscript N O T C O P Y E D I T E Dmentioning

confidence: 99%

“…• Limited to single-input-single-output CMs at present. Laser Cutting [49,126,191,192] Plastics like acrylic, ABS and delrin. And metals like stainless steel, aluminium and titanium.…”

mentioning

confidence: 99%

Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

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“…[7][8][9] For several years, articulated surgical instruments such as the da Vinci's Endowrist instruments have been inseparably linked to 3D visualization. A recently developed manually controllable articulated surgical instrument 10,11 also functions particularly well using modern 3D visualization. The aim of this prospective study is to quantify the benefit of 3D visualization and the possible different effect using rigid versus articulated instruments in terms of execution time, errors, and visual fatigue.…”

Section: Introductionmentioning

confidence: 99%

Articulated Instruments and 3D Visualization: A Synergy? Evaluation of Execution Time, Errors, and Visual Fatigue

et al. 2019

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Objective. The introduction of advanced endoscopic systems, such as the Storz Image1S and the Olympus Endoeye, heralds a new era of 3-dimensional (3D) visualization. The aim of this report is to provide a comprehensive overview of the neurophysiology of 3D view, its relevance in videoscopy, and to quantify the benefit of the new 3D technologies for both rigid and articulated instruments. Method. Sixteen medical students without any laparoscopic experience were trained each for a total of 27 hours. Proficiency scores were determined for rigid and articulated instruments under 2D and 3D visualization conditions. Results. A reduction in execution time of 14%, 28%, and 36% was seen for the rigid instruments, the da Vinci, and Steerable instruments, respectively. A reduction in errors of 84%, 92%, and 87% was seen for the rigid instruments, the da Vinci, and Steerable instruments, respectively. Conclusion. 3D visualization greatly augments endoscopic procedures. The advanced endoscopic systems employed in the recent study caused no visual fatigue or discomfort. The benefit of 3D was most distinct with articulated instruments.

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“…Nowadays, MIS gains an increasingly important role in most surgical disciplines, and new applications are reported periodically . Technological advancements such as articulated endoscopic instruments, ultra‐high‐definition endoscopes, and advanced three‐dimensional (3D) videoscopy have further improved MIS techniques over the last years, enhancing the dexterity and precision of the surgeon . Meanwhile, manipulation of the endoscope during conventional MIS has known little advancements since its introduction and is still encountered by surgeons as a major obstacle during surgery .…”

Section: Introductionmentioning

confidence: 99%

A novel hybrid 3D endoscope zooming and repositioning system: Design and feasibility study

Pauw

Kalmar

Putte

et al. 2019

Robotics Computer Surgery

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Background: Manipulation of the endoscope during minimally invasive surgery is a major source of inconvenience and discomfort. This report elucidates the architecture of a novel one-hand controlled endoscope positioning device and presents a practicability evaluation. Methods and materials:Setup time and total surgery time, number and duration of the manipulations, side effects of three-dimensional (3D) imaging, and ergonomic complaints were assessed by three surgeons during cadaveric and in vivo porcine trials. Results: Setup was accomplished in an average (SD) of 230 (120) seconds. The manipulation time was 3.87 (1.77) seconds for angular movements and 0.83 (0.24) seconds for zooming, with an average (SD) of 30.5 (16.3) manipulations per procedure. No side effects of 3D imaging or ergonomic complaints were reported. Conclusions:The integration of an active zoom into a passive endoscope holder delivers a convenient synergy between a human and a machine-controlled holding device. It is shown to be safe, simple, and intuitive to use and allows unrestrained autonomic control of the endoscope by the surgeon. K E Y W O R D Sendoscope positioner, minimally invasive surgery, solo surgery, surgical assistant

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A Novel Design for Steerable Instruments Based on Laser-Cut Nitinol

Abstract: A new design for steerable endoscopic instruments is presented. It allows the construction in a range from microinstruments to 10-mm laparoscopic devices with excellent tip stability.

Cited by 17 publications

References 19 publications

Surgical Applications of Compliant Mechanisms: A Review

Surgical Applications of Compliant Mechanisms: A Review

Articulated Instruments and 3D Visualization: A Synergy? Evaluation of Execution Time, Errors, and Visual Fatigue

A novel hybrid 3D endoscope zooming and repositioning system: Design and feasibility study

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