Design, Control, and Experiments of a Novel Robotic Uterine Manipulator With the Motorized 3-DoF Manipulation Rod

Wu, Jiahao; Wang, Taowang; Guo, Huanhuan; Wang, Yaqing; Guo, Dezhao; Lu, Bo; Wang, Ziyi; Zhong, Fangxun; Wang, Hesheng; Yuan, Jiangzi; Li, Yuhong; Cheung, Tak Hong; Wang, Yudong; Liu, Yun-Hui

doi:10.1109/tbme.2023.3238762

Cited by 4 publications

(5 citation statements)

References 20 publications

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“…ViKY UP [8,9] Figure 3a RCM@Vulva x x / Premachandra [12] Figure 3b RCM@Cervix x / / Wu et al I [13] Figure 3b RCM@Cervix x / / Yip et al [10,11] Figure 3c RCM@Cervix x / / Wu et al II [14] Figure 3d RCM@Cervix / x x Tsai et al [15] Figure 3e non-RCM / x x Nguyen et al [16] Figure 3e non-RCM / x x Mustaza [21] Figure 3f non-RCM / x x Lee [22] Figure 3f non-RCM / x x…”

Section: Uterus Movement Mechanism Tiltable-tip Reusable Existingmentioning

confidence: 99%

“…Recently, the applications of RCM have expanded from the main robotic surgical systems to robotic uterine manipulators [8][9][10][11][12][13][14]. ViKY products provide obvious examples of how the RCM mechanism has evolved from application on a main laparoscopic robot, ViKY Endoscope Positioner (ViKY EN) [9], to a uterine manipulator robot, the ViKY Uterus Positioner (ViKY UP) [8].…”

Section: Uterus Movement Mechanism Tiltable-tip Reusable Existingmentioning

confidence: 99%

“…Initially, both the manipulation and holding of the uterine manipulator were performed manually; then, the uterine manipulation was performed by a human but an instrument held the manipulator itself [4-7]; finally, a robot performed the manipulation of the uterus and held the uterine manipulator. Examples of uterine manipulation robots can be seen in both the market and previous publications [8][9][10][11][12][13][14][15][16]. All of these robots were specifically built to carry out the entire process with a great deal of complexity.…”

Section: Introductionmentioning

confidence: 99%

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Implementation and Evaluation of a Uterine Manipulation System Incorporated with an Existing Tiltable-Tip Uterine Manipulator for Gynecological Laparoscopy

Namkhun,

Khampitak,

Boonkong

et al. 2024

Applied Sciences

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In gynecologic surgery, a uterine manipulator is one of the instruments used to perform the laparoscopy. Throughout the past decade, a number of robotic technology applications used for uterine manipulation during surgery have been designed with the aim of increasing the efficiency, improving the precision, and reducing the workload of medical assistants. Although the RCM (Remote Center of Motion) mechanism is one of the key features in a Minimally Invasive Surgical (MIS) robot, the preliminary result in this study, in which the RCM mechanism was applied in a uterine manipulation robot, proved that this may cause unpleasant sensations such as irritation or harm to the nearby area during such manipulation. Therefore, a design of a non-RCM 2-DoF (Degree of Freedom) Robotic Uterine Manipulation System, in cooperation with an existing, reusable and tiltable-tip uterine manipulator, for laparoscopic gynecologic surgery has been proposed and evaluated via a mathematical model along with numerical analysis, a 3D uterus model, and a 1:1 uterus manikin model in order to demonstrate the use of the essential functions. According to the experimental results, the maximum load of 500 g has been handled well by the prototype, with the movement ranges of ±150° in the roll panel and ±90° in the pitch panel (0∼90° for anteversion and 0∼−90° for retroversion, if needed, which can be achieved by rotating the instrument to the other side). Furthermore, to verify this new design prior to its use on patients, and also in consideration of the ethics of human experimentation, through extensive testing on five donated soft-tissue cadavers, the proposed robot received positive feedback from all five surgeons performing the experiments and could offer effective uterine manipulation at the angular velocity of 4 °/s (0.67 RPM) with steady delineation of the vaginal fornices to create necessary motions in the pitch and roll panels of 30∼80° and ±15°, respectively, providing efficient visualization of the uterus. These features make this robot a valuable addition to the surgical instruments available to gynecologic surgeons.

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Section: Uterus Movement Mechanism Tiltable-tip Reusable Existingmentioning

confidence: 99%

Section: Uterus Movement Mechanism Tiltable-tip Reusable Existingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Implementation and Evaluation of a Uterine Manipulation System Incorporated with an Existing Tiltable-Tip Uterine Manipulator for Gynecological Laparoscopy

Namkhun,

Khampitak,

Boonkong

et al. 2024

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…42 Wu et al designed a 3-DOF RCM manipulator that exhibited a wide range of pitching motion and a compact structure. 43 Qiu et al developed a parallel RCM manipulator with a large effective workspace and excellent dexterity through kinematic optimisation. 44 Colan et al proposed an inverse kinematic solution framework for the control-based redundant RCM manipulator, which combined the iterative inverse Jacobian method with the hierarchical quadratic programming method.…”

Section: Objectivesmentioning

confidence: 99%

“…Wu et al. designed a 3‐DOF RCM manipulator that exhibited a wide range of pitching motion and a compact structure 43 . Qiu et al.…”

Section: Introductionmentioning

confidence: 99%

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

Huang,

Sang,

Liu

et al. 2023

Robotics Computer Surgery

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BackgroundWith the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles.MethodsA multi‐objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator. An inverse kinematic solution method is proposed to meet task accuracy and kinematic singularity avoidance constraints for safety motion control.ResultsSimulation results demonstrate that there are significant improvements in the reachable workspace inside the abdominal cavity, the flexibility of the workspace, kinematic performance, and compactness of the RCM manipulator. Experiments verify the feasibility of the prototype and the validity of the proposed inverse kinematic solution method.ConclusionsThis enhances the adaptability and safety of the RCM manipulator and provides potential prospects for MIS application.

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A family of generalized single-loop RCM parallel mechanisms: structure synthesis, kinematic model, and case study

Li,

Zhang,

Tian

2024

Mechanism and Machine Theory

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Design, Control, and Experiments of a Novel Robotic Uterine Manipulator With the Motorized 3-DoF Manipulation Rod

Cited by 4 publications

References 20 publications

Implementation and Evaluation of a Uterine Manipulation System Incorporated with an Existing Tiltable-Tip Uterine Manipulator for Gynecological Laparoscopy

Implementation and Evaluation of a Uterine Manipulation System Incorporated with an Existing Tiltable-Tip Uterine Manipulator for Gynecological Laparoscopy

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

A family of generalized single-loop RCM parallel mechanisms: structure synthesis, kinematic model, and case study

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