Design of an advanced tool guiding system for robotic surgery

Peirs, Jan; Reynaerts, Dominiek; Brussel, Hendrik Van; Gersem, Gudrun De; Tang, Hsiao-Wei

doi:10.1109/robot.2003.1241993

Cited by 48 publications

(30 citation statements)

References 2 publications

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“…This device allows a 90 o bending in three directions. These flexible steering tips are the only parts of the whole self-propelling robots, however those works did not focus on how to control this special robot to endow it with a capability for autonomous guidance Kim et al (2006); Kumar et al (2000); Menciassi et al (2002); Piers et al (2003). Since 2001, there is another method to perform colon diagnostics: capsule endoscopy (n.d.a;n).…”

Section: State Of the Art: Robotic Colonoscopymentioning

confidence: 99%

A Biomimetic steering robot for Minimally invasive surgery application

Chen¹,

Pham²,

Maalej³

et al. 2010

Advances in Robot Manipulators

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Minimally Invasive Surgery represents the future of many types of medical interventions such as keyhole neurosurgey or transluminal endoscopic surgery. These procedures involve insertion of surgical instruments such as needles and endoscopes into human body through small incision/ body cavity for biopsy and drug delivery. However, nearly all surgical instruments for these procedures are inserted manually and there is a long learning curve for surgeons to use them properly. Many research efforts have been made to design active instruments (endoscope, needles) to improve this procedure during last decades. New robot mechanisms have been designed and used to improve the dexterity of current endoscope. Usually these robots are flexible and can pass the constrained space for fine manipulations. In recent years, a continuum robotic mechanism has been investigated and designed for medical surgery. Those robots are characterized by the fact that their mechanical components do not have rigid links and discrete joints in contrast with traditional robot manipulators. The design of these robots is inspired by movements of animals' parts such as tongues, elephant trunks and tentacles. The unusual compliance and redundant degrees of freedom of these robots provide strong potential to achieve delicate tasks successfully even in cluttered and unstructured environments. This chapter will present a complete application of a continuum robot for Minimally Invasive Surgery of colonoscopy. This system is composed of a micro-robotic tip, a set of position sensors and a real-time control system for guiding the exploration of colon. Details will be described on the modeling of the used pneumatic actuators, the design of the mechanical component, the kinematic model analysis and the control strategy for automatically guiding the progression of the device inside the human colon. Experimental results will be presented to check the performances of the whole system within a transparent tube.

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Section: State Of the Art: Robotic Colonoscopymentioning

confidence: 99%

A Biomimetic steering robot for Minimally invasive surgery application

Chen¹,

Pham²,

Maalej³

et al. 2010

Advances in Robot Manipulators

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show abstract

“…Dario et al [10] presented an SMA actuated 1 DoF planar bending snake device for knee arthroscopy and Reynaerts [11] designed a hyper-redundant SMA actuated snake for gastro-intestinal intervention. Recently, Piers et al [12] presented a two DoF 5 mm diameter wire-driven snake-like tool using super-elastic NiTi flexure joints and Ikuta et al [13] reported a ∅3 mm wire-actuated articulated robot attached at the tip of a flexible stem for microsurgery inside deep and narrow spaces.…”

Section: Snake-like Robots For Dexterity Enhancement In Mismentioning

confidence: 99%

High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway

Simaan

Taylor

Flint³

2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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Abstract. This paper reports our efforts to develop an integrated system for telesurgery of the throat and upper airway. The system is described while focusing on the novel design of its slave robot. The slave robot is a 3-armed robot that implements novel Distal Dexterity Units (DDU's). These DDU's are dexterous robots for surgical tool manipulation and suturing in confined spaces. Each DDU is composed from a Snake-Like Unit (SLU) and a detachable Parallel Manipulation unit (PMU). The proposed design of the DDU's provides an enhanced downsize scalability and distal dexterity that are crucial for medical applications such as laryngeal surgery where simultaneous manipulation of 2-3 long tools through a narrow laryngeoscope is required. The paper presents the design of these units and the experimentation results with a 4.2 mm diameter SLU to be used for constructing the first DDU for the 3-armed slave robot.

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“…refs. [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17] aimed at addressing it by various designs for wrists, snakes, or mechanical linkages.…”

Section: Introductionmentioning

confidence: 99%

Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots

Ding

Simaan

2014

Robotica

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SUMMARYLaparoscopic and Single Port Access Surgery (SPAS) present unique dexterity challenges related to dual-arm operations in confined spaces and tele-manipulation of highly dexterous surgical slaves. In an effort to reduce tele-manipulation burden, new paradigms for semi-automating surgical tasks are needed. This paper presents a new minimal constraint suturing and automated choice of handedness for anthropomorphic dual-arm robots. The automated choice of handedness supports surgeons during tele-manipulation of complex robotic slaves where dexterity and workspace constraints are difficult to learn. This criterion is also used to support automated dual-arm rendezvous for quicker suture exchange during dual-arm suturing. The minimal constraint algorithm presented in this paper allows surgeons to operate within a shared-control tele-manipulation framework whereby the surgeon controls the needle insertion speed and the robot controls the needle orientation while respecting a minimalistic set of tissue constraints. This framework is evaluated on a novel insertable robotic end-effectors platform for SPAS. A simulation study demonstrates the effectiveness of the automated choice of handedness criterion through a study of dexterity limitations of each arm. Additional simulations show the proposed algorithm for automated rendezvous and suture exchange.

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Design of an advanced tool guiding system for robotic surgery

Cited by 48 publications

References 2 publications

A Biomimetic steering robot for Minimally invasive surgery application

A Biomimetic steering robot for Minimally invasive surgery application

High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway

Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots

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