Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single‐site surgery (LESS)

Wang, Jianchen; Wang, Shuxin; Li, Jinhua; Ren, Xiangyun; Briggs, Randall

doi:10.1002/rcs.1838

Cited by 38 publications

(17 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We modelled the laparoendoscopic single‐site surgery (LESS) robotic arms based on Denavit‐Hartenberg (D‐H) notation and constant‐curvature kinematics. The motion information including joint variables and translation variables was calculated by inverse kinematics.…”

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

An automatic skill evaluation framework for robotic surgery training

Peng

Yuan

Liu

et al. 2018

Robotics Computer Surgery

Self Cite

View full text Add to dashboard Cite

Background To provide feedback to surgeons in robotic surgery training, many surgical skill evaluation methods have been developed. However, they hardly focus on the performance of the surgical motion segments. This paper proposes a method of specifying a trainee's skill weakness in the surgical training. Methods This paper proposed an automatic skill evaluation framework by comparing the trainees' operations with the template operation in each surgical motion segment, which is mainly based on dynamic time warping (DTW) and continuous hidden Markov model (CHMM). Results The feasibility of this proposed framework has been preliminarily verified. For specifying the skill weakness in instrument handling and efficiency, the result of this proposed framework was significantly correlated with that of manual scoring. Conclusion The automatic skill evaluation framework has shown its superiority in efficiency, objectivity, and being targeted, which can be used in robotic surgery training.

show abstract

Section: Methodsmentioning

confidence: 99%

“…We modelled the laparoendoscopic single-site surgery (LESS) robotic arms 33 In our work, the peg transfer task was chosen to validate the surgeme evaluation framework. The structure of this task was clear and simple, and it was easy for us to verify the accuracy of CHMM recognition.…”

Section: Experiments Setupmentioning

confidence: 99%

An automatic skill evaluation framework for robotic surgery training

Peng

Yuan

Liu

et al. 2018

Robotics Computer Surgery

Self Cite

View full text Add to dashboard Cite

show abstract

“…A lot of excellent designs for the construction of the operation triangle has been made in developing multi‐task platforms for NOTES 8‐19 . As examples, the EndoSAMURAI 8,9 platform has two short modified independent arms, to open in an elbow‐like fashion for obtaining a larger working space.…”

Section: Introductionmentioning

confidence: 99%

“…It enables the manipulation arm to form an operation triangle. In addition, Wang 18 and Xu 19 have designed very good manipulation arm mechanisms respectively. In their designs, the manipulation arm uses a rigid connecting rod that cannot pass through the curved working channel of the endoscope.…”

Section: Introductionmentioning

confidence: 99%

“…7 A lot of excellent designs for the construction of the operation triangle has been made in developing multi-task platforms for NOTES. [8][9][10][11][12][13][14][15][16][17][18][19] As examples, the EndoSAMURAI 8,9 platform has two short modified independent arms, to open in an elbow-like fashion for obtaining a larger working space. The modified arms can serve as conduits for different effectors, including standard endoscopic accessories.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

Lei

Song

et al. 2021

Robotics Computer Surgery

View full text Add to dashboard Cite

Background Natural orifice transluminal endoscopic surgery (NOTES) is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms. Methods The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end‐effectors and the common workspace of the two manipulation arms are comprehensively analysed. Through experiments, the design parameters are validated and justified. Results The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end‐effectors can be maintained within the range of [88°, 110°]. Conclusions The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.

show abstract

3D printing dielectric elastomers for advanced functional structures: A mini‐review

Zhang,

Wen,

Zhu

et al. 2023

J of Applied Polymer Sci

View full text Add to dashboard Cite

Three‐dimensional (3D) printed bionic products play an important role in intelligent robotics, microelectronics, and polymers. The printing and manufacturing process of 3D printers is conducive to obtaining soft structures that meet specific requirements, and saves time and cost. Soft intelligent robotics, an emerging research field, has always been developed based on soft materials and actuators with their biological properties. This article reviews the current understanding of 3D bioprinting technologies for dielectric elastomers (DEs), DE actuators (DEAs) and soft robots, such as inkjet, extrusion, laser‐induced and stereolithography bioprinting. 3D printers for fabricating soft materials are presented and classified. The approaches to exploit 3D bioprinters for DEs/DEAs are as follows: (1) 3D printing DEAs utilize ionic hydrogel–elastomer hybrids that are analogous to human muscles, and the DEAs usually have flexible structures and large deformations with multiple functionalities. (2) An electrohydrodynamic (EHD) 3D printer confers high printing resolution and high production efficiency, which offers advantages such as full automation and flexible design. The optimal printing conditions are mainly determined by the effects of printing voltages and ink properties, which are related to the formation of the liquid cone and the printed line width. Furthermore, the advantages of 3D bioprinting technologies have accelerated their development and applications.

show abstract

Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single‐site surgery (LESS)

Abstract: Background: For current LESS robotic systems, the trade-off between dexterity and payload

Cited by 38 publications

References 27 publications

An automatic skill evaluation framework for robotic surgery training

An automatic skill evaluation framework for robotic surgery training

Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

3D printing dielectric elastomers for advanced functional structures: A mini‐review

Contact Info

Product

Resources

About