A technical review of flexible endoscopic multitasking platforms

Yeung, Baldwin Po Man; Gourlay, Terence

doi:10.1016/j.ijsu.2012.05.009

Cited by 105 publications

(81 citation statements)

References 82 publications

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“…Therefore, accessory hardware adjustments to facilitate automated navigation are considered a disadvantage. The upside of the accessory hardware is that such systems hold potential for performing more complex procedures [8]. Adjusting the hardware of a system or building a completely new one may lead to another kind of automated flexible endoscopy system [35], [36].…”

Section: Discussionmentioning

confidence: 99%

“…Adjusting the hardware of a system or building a completely new one may lead to another kind of automated flexible endoscopy system [35], [36]. However, the currently available systems are not ideal [8], [37]. Yeung et al [8] discuss all currently available flexible endoscopic 'multitasking platforms', platforms that can simultaneously be employed in diagnostics and therapeutics.…”

Section: Discussionmentioning

confidence: 99%

“…However, the currently available systems are not ideal [8], [37]. Yeung et al [8] discuss all currently available flexible endoscopic 'multitasking platforms', platforms that can simultaneously be employed in diagnostics and therapeutics. With 'available' is meant: at least in an advanced prototype state.…”

Section: Discussionmentioning

confidence: 99%

“…Example devices include the Anubis-scope, the R-scope, the Direct Drive system and the EndoSamurai [8]. Steering and control of the instruments are challenging for the design of these devices.…”

Section: Introductionmentioning

confidence: 99%

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Towards automated visual flexible endoscope navigation

2013

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Towards automated visual flexible endoscope navigation

2013

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“…The efficiency of a wire to transmit power is high; however, creating a minimally invasive surgical robot based on an electrical transmission has the obvious drawback that the actuators now need to be located on the inside of the body. Examples of this approach exist (Takayama et al, 1997;Mineta et al, 2001;Yeung and Gourlay, 2012;Lee et al, 2014), though the actuator size is now the dominant factor. Still, if the actuators of sufficient performance could be placed significantly closer to the surgical site inside the body, this would remove another limitation of current surgical robots -the large size of the systems.…”

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confidence: 99%

Efficiency and Power Limits of Electrical and Tendon-Sheath Transmissions for Surgical Robotics

Wagner

Emmanouil

2018

Front. Robot. AI

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A popular design choice in current surgical robotics is to use mechanical cables to transmit mechanical energy from actuators located outside of the body, through a minimally invasive port, to instruments on the inside of the body. These cables enable high performance surgical manipulations including high bandwidth control, precision position control, and high force ability. However, cable drives become less efficient for longer distances, for paths that involve continuous curves, and for transmissions involving multiple degrees of freedom. In this paper, we consider the design tradeoffs for two methods of transmitting power through an access port with limited cross sectional area and curved paths -tendon/sheath mechanical transmissions and electrical wire transmissions. We develop a series of analytic models examining fundamental limits of efficiency, force and power as constrained by access geometry, material properties, and safety limits of heat and electrical hazards for these two transmission types. These models are used to investigate the potential of achieving the required mechanical power requirements needed for surgery with smaller access ports and more difficult access pathways. We show that an electrical transmission is a viable way of delivering more than sufficient power needed for surgery, highlighting the opportunity for next-generation actuators to enable more minimally invasive surgical devices.

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An Additive Millimeter‐Scale Fabrication Method for Soft Biocompatible Actuators and Sensors

Russo¹,

Ranzani²,

Walsh³

et al. 2017

Adv Materials Technologies

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intuitiveness of the system. [6] Soft robotics represents a promising technology in this field because soft robots are constructed from compliant and flexible materials, resulting in machines that can safely interact with the surrounding environment. [7,8] They have already found applications in several research fields including the creation of biomimetic devices (given that the majority of the animal kingdom is mostly or entirely soft), [9][10][11][12] wearable robots, [13] and medical robots. [14] However, the low elastic modulus of soft materials can limit the interaction forces between the robots and the surgical target. To resolve the paradox of generating large forces from soft devices, stiffening mechanisms can be exploited, [15] such as granular jamming that has been integrated in a soft manipulator in order to effectively apply forces on a desired surgical target. [16] Soft biomedical robots are typically centimeter-scale [17] or larger but the current trend in minimally invasive procedures is to perform surgical tasks through small and remote entry points relative to the surgical target, [18] thus requiring millimeter-scale systems. Prior examples of soft millimeter-scale mechanisms include flexible microactuators for building robotic manipulators and grippers constructed by casting silicone rubber and nylon fibers in micromolds fabricated using electrical discharge machining, [19] soft microtentacles for grasping delicate objects consisting of elastomeric microtubes fabricated with a direct peeling-based soft-lithographic technique, [20] and a soft miniature hand fabricated through casting in micromolds and bonding silicone rubber through excimer light irradiation. [21] The forces that these actuators can exert are restricted to the millinewton range, thus suggested biomedical applications are limited to low-force surgical tasks, such as those performed in retinal surgery [22] and neurosurgery. [23] These limitations motivate the need for new millimeter-scale manufacturing technologies that combine soft materials with precision mechanisms to achieve distal articulation, integrated sensing, and effective force transmission with compliant, back-drivable, and safe devices for minimally invasive surgery.The "pop-up book microelectromechanical systems (MEMS)" manufacturing method creates 3D microstructures based on folding of multilayer rigid-flex laminates, [24] and enables fabrication of highly complex structures with embedded actuation and sensing. [25] Surgical applications of pop-up mechanisms have been proposed as self-assembling force sensors A hybrid manufacturing paradigm is introduced that combines pop-up book microelectromechanical systems (MEMS) manufacturing with softlithographic techniques to produce millimeter-scale mechanisms with embedded sensing and user-defined distributed compliance. This method combines accuracy, flexibility in material selection, scalability, and topological complexity with soft, biocompatible materials and microfluidics, paving the way for applications of soft fluid-p...

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A technical review of flexible endoscopic multitasking platforms

Abstract: Alternative forms of instrument actuation, camera control and master console ergonomics should be explored to improve instrument precision, sphere of action, size and minimize assistance required.

Cited by 105 publications

References 82 publications

Towards automated visual flexible endoscope navigation

Towards automated visual flexible endoscope navigation

Efficiency and Power Limits of Electrical and Tendon-Sheath Transmissions for Surgical Robotics

An Additive Millimeter‐Scale Fabrication Method for Soft Biocompatible Actuators and Sensors

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