An External Positioning Mechanism for Robotic Surgery

Beira, R.; Santos-Carreras, Laura; Sengül, Ali; Samur, Evren; Clavel, R.; Bleuler, Hannes

doi:10.1299/jsdd.5.1094

Cited by 4 publications

(4 citation statements)

References 25 publications

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“…However, two surgeons pointed out the need for two additional functionalities: a method for automatic assistance in the port placement, and a visualization of the complete robotic platform, including the external robot, to enable the evaluation of the configuration of the external manipulator. In this regard, we are integrating an external robot arm (Dionis Manipulator) controlling the placement of the access port [30], and taking into account the adjustment of the positioning of the operating table.…”

Section: Discussionmentioning

confidence: 99%

Patient-specific surgical simulator for the pre-operative planning of single-incision laparoscopic surgery with bimanual robots

Turini¹,

Moglia²,

Ferrari³

et al. 2012

Computer Aided Surgery

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Introduction: The trend of surgical robotics is to follow the evolution of laparoscopy, which is now moving towards singleincision laparoscopic surgery. The main drawback of this approach is the limited maneuverability of the surgical tools. Promising solutions to improve the surgeon's dexterity are based on bimanual robots. However, since both robot arms are completely inserted into the patient's body, issues related to possible unwanted collisions with structures adjacent to the target organ may arise. Materials and Methods: This paper presents a simulator based on patient-specific data for the positioning and workspace evaluation of bimanual surgical robots in the pre-operative planning of single-incision laparoscopic surgery. Results: The simulator, designed for the pre-operative planning of robotic laparoscopic interventions, was tested by five expert surgeons who evaluated its main functionalities and provided an overall rating for the system. Discussion: The proposed system demonstrated good performance and usability, and was designed to integrate both present and future bimanual surgical robots.

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Section: Discussionmentioning

confidence: 99%

Patient-specific surgical simulator for the pre-operative planning of single-incision laparoscopic surgery with bimanual robots

Turini¹,

Moglia²,

Ferrari³

et al. 2012

Computer Aided Surgery

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“…To localize the SPRINT robot throughout the entire surgical procedure, we have placed a 6-DOF electromagnetic sensor on the robot base, tracked using an Aurora Once the integration of all hardware and software modules for the ARAKNES project is completed, the surgical robotic platform will be provided with an external robot manipulator (Dionis Manipulator) [21] able to accurately position the SPRINT robot and the single access port. At that time, the electromagnetic sensor on the robot base will be removed, and tracking will henceforth be performed simply by monitoring the external robot manipulator configuration.…”

Section: Computer Guidance Module: Overview and Functionalitiesmentioning

confidence: 99%

Computer guidance system for single-incision bimanual robotic surgery

Carbone

Turini

Petroni

et al. 2012

Computer Aided Surgery

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The evolution of surgical robotics is following the progress of developments in Minimally Invasive Surgery (MIS), which is moving towards Single-Incision Laparoscopic Surgery (SILS) procedures. The complexity of these techniques has favored the introduction of robotic surgical systems. New bimanual robots, which are completely inserted into the patient's body, have been proposed in order to enhance the surgical gesture in SILS procedures. However, the limited laparoscopic view and the focus on the end-effectors, together with the use of complex robotic devices inside the patient's abdomen, may lead to unexpected collisions, e.g., between the surrounding anatomical organs not involved in the intervention and the surgical robot.This paper describes a computer guidance system, based on patient-specific data, designed to provide intraoperative navigation and assistance in SILS robotic interventions. The navigator has been tested in simulations of some of the surgical tasks involved in a cholecystectomy, using a synthetic anthropomorphic mannequin. The results demonstrate the usability and efficacy of the navigation system, underlining the importance of avoiding unwanted collisions between the robot arms and critical organs. The proposed computer guidance software is able to integrate any bimanual surgical robot design.

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“…The typical feature of MIS robots based on this kind of mechanisms is that they have two rotational DOFs about two orthogonal axes at the RCM point [30]. A spatial 3-DOF RCM mechanism, which is also based on parallelograms, was proposed by Ricardo et al [31]. Due to its large volume, it is difficult to arrange several around the patient table.…”

Section: Introductionmentioning

confidence: 99%

A class of spatial remote center-of-motion mechanisms and its forward kinematics

Bian¹,

Zhao

et al. 2022

Robotica

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Robot-assisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. A crucial challenge for developing a MIS robot is the kinematic design of the remote center-of-motion (RCM) mechanism. In this paper, a class of spatial RCM mechanism is analyzed. They are obtained by generating virtual parallelograms. The main process is to construct a line that passes through a fixed point under the mechanical constraint. The axis of the surgical tool is then constrained to parallel with that line. Hence, due to the geometrical feature of the parallel lines, the axis of the surgical tool will always pass through a fixed point, i.e., the RCM point. Due to the specially designed structure, the fixed point does not need to be physically belonging to the mechanism. The geometrical analysis method is employed to obtain the closed-form solution of the forward kinematics of the proposed mechanisms. Due to the high load capacity of parallel mechanism, the robots based on the proposed RCM mechanisms have promising applications as an external positioner to be used in robotic single-port surgeries.

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An External Positioning Mechanism for Robotic Surgery

Cited by 4 publications

References 25 publications

Patient-specific surgical simulator for the pre-operative planning of single-incision laparoscopic surgery with bimanual robots

Patient-specific surgical simulator for the pre-operative planning of single-incision laparoscopic surgery with bimanual robots

Computer guidance system for single-incision bimanual robotic surgery

A class of spatial remote center-of-motion mechanisms and its forward kinematics

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