Development of a snake-like dexterous manipulator for skull base surgery

Coemert, Suat; Gao, Anzhu; Carey, John P.; Traeger, Mattias F.; Taylor, Russell H.; Lueth, Tim C.; Armand, Mehran

doi:10.1109/embc.2016.7591871

Cited by 17 publications

(4 citation statements)

References 14 publications

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“…In subse-quent work, a flexible ring currette made of thin and long pre-curved ring nitinol strips was designed to pass through the open lumen of the DCM [79]. The integration of DCM to a da Vinci actuation box (Intuitive Surgical, Inc., USA) as a hand-held actuator was also shown [80,81]. In related work, a flexible cutter and an actuation unit to control the DCM were designed to study its buckling behavior during the cutting procedure [82].…”

Section: Accepted Manuscript N O T C O P Y E D I T E Dmentioning

confidence: 99%

Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

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Current surgical devices are mostly rigid and are made of stiff materials, even though their predominant use is on soft and wet tissues. With the emergence of compliant mechanisms (CMs), surgical tools can be designed to be flexible and made using soft materials. CMs offer many advantages such as monolithic fabrication, high precision, no wear, no friction, and no need for lubrication. It is therefore beneficial to consolidate the developments in this field and point to challenges ahead. With this objective, in this article, we review the application of CMs to surgical interventions. The scope of the review covers five aspects that are important in the development of surgical devices: (i) conceptual design and synthesis, (ii) analysis, (iii) materials, (iv) manufacturing, and (v) actuation. Furthermore, the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployable devices. The scope and prospects of surgical devices using CMs are also discussed.

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Section: Accepted Manuscript N O T C O P Y E D I T E Dmentioning

confidence: 99%

Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

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“…camera and embedded sensors) but it also can be utilized to simultaneously learn the deformation behavior of the CM and the unknown environment. The performance and scalability of the DD-PMI method are investigated using two different types of CMs with 3 degrees of freedom (DoF): a 3mm continuum manipulator especially designed and fabricated from nitinol tube for head and neck surgeries [33], and a 5mm Endowrist Instrument (Intuitive surgical, Inc., California, USA). We integrated the two CMs with the da Vinci Research Kit (dVRK) [34] and performed several experiments in environments including rigid and deformable obstacles with different geometries.…”

Section: Our Contributionmentioning

confidence: 99%

“…This continuum manipulator with 3.3 mm outer diameter and 1.8 mm tool channel diameter has been designed to assist surgeons in treatment of petrous apex lesions [33]. It is made of nitinol with 40 mm working length and has an endoscope channel with a diameter of 0.7 mm (Fig.…”

Section: MM Continuum Manipulatormentioning

confidence: 99%

A Versatile Data-Driven Framework for Model-Independent Control of Continuum Manipulators Interacting With Obstructed Environments With Unknown Geometry and Stiffness

Alambeigi,

Wang,

Liu

et al. 2020

Preprint

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This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed environment. We propose a versatile data-driven priorimodel-independent (PMI) control framework, in which various control paradigms (e.g. CM's position or shape control) can be defined based on the provided feedback. This optimal iterative algorithm learns the deformation behavior of the CM in interaction with an unknown environment, in real time, and then accomplishes the defined control objective. To evaluate the scalability of the proposed framework, we integrated two different CMs, designed for medical applications, with the da Vinci Research Kit (dVRK). The performance and learning capability of the framework was investigated in 11 sets of experiments including PMI position and shape control in free and unknown obstructed environments as well as during manipulation of an unknown deformable object. We also evaluated the performance of our algorithm in an ex-vivo experiment with a lamb heart. The theoretical and experimental results demonstrate the adaptivity, versatility, and accuracy of the proposed framework and, therefore, its suitability for a variety of applications involving continuum manipulators.

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“…In subsequent work, a flexible ring currette made of thin and long pre-curved ring nitinol strips was designed to pass through the open lumen of the DCM [217]. The integration of DCM to a da Vinci actuation box (Intuitive Surgical, Inc., USA) as a hand-held actuator was also shown [136], [218]. In related work, a flexible cutter and an actuation unit to control the DCM were designed to study its buckling behavior during the cutting procedure [219].…”

Section: Surgical Applicationsmentioning

confidence: 99%

Bending the rules: Magnetically-actuated surgical continuum manipulators

Thomas

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Continuum manipulators have revolutionized the field of minimally invasive surgery (MIS) in the past few decades. Major advances in fiber optics, imaging technologies, teleoperation, and haptics have accelerated the development of robot-assisted surgeries. The continuum manipulators used in robot-assisted surgery are equipped with laparoscopic tools as end effectors to augment the hand movements of the surgeon with precision. With robot assistance, surgeons can perform complex procedures inside the human body with high dexterity. However, the continuum robotics research community has challenged the lack of intuitive and effective operation of the surgical tools. Much uncertainty still exists about the tool-tissue interactions which have associated risks of tissue damage caused by unreliable control and articulation of the tool. This problem is further exacerbated by the limited visualization resolution of internal organs of the human body for safe operation. There is a pressing need to develop continuum manipulators with improved maneuverability and control to reach difficult-to-access surgical sites accurately.The aforementioned challenges of MIS play a critical role in the design and development of surgical continuum manipulators. The concept of compliant mechanisms (CMs) has been central to the design of various surgical devices. CMs are flexible mechanisms that use elastic deformation to transfer or transform force, motion, or energy. Devices made of CMs are generally monolithic in nature which leads to simplified fabrication, no wear, no friction, therefore, beneficial in high precision applications. CMs and their sub-components are increasingly used to enhance the range of motion and articulation of surgical continuum manipulators. Recently, magnetic actuation has emerged as a powerful means to execute several surgical functions such as instrument positioning, navigation, grasping, resection, and retraction. Magnetic actuation coupled with CMs has considerable impact in the design of miniaturized manipulators that eliminates the need for any cables tethered for control. Furthermore, accurate modeling of the continuum manipulators and integration of embedded sensing have been effective in the localization of manipulators. Real-time three-dimensional (3D) shape sensing of manipulators in tandem with medical imaging modalities aids in iii closed-loop control strategy to trace different trajectories with the tip of the manipulator is demonstrated. Clinical feasibility of the manipulator as a steerable catheter is shown in phantoms of a bifurcating artery and a heart with the guidance of a miniature camera.Part II explores the concept of variable stiffness mechanisms for surgical applications focusing on grasping and shape locking. Chapter 5 presents a magnetically-actuated variable stiffness robot (VSR). It is made of a soft magnetic elastomer with a sliding nitinol backbone. The synchronised retraction of the backbone with magnetic actuation leads to high deformation coiling action of the VSR. The grasping of ...

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Development of a snake-like dexterous manipulator for skull base surgery

Cited by 17 publications

References 14 publications

Surgical Applications of Compliant Mechanisms: A Review

Surgical Applications of Compliant Mechanisms: A Review

A Versatile Data-Driven Framework for Model-Independent Control of Continuum Manipulators Interacting With Obstructed Environments With Unknown Geometry and Stiffness

Bending the rules: Magnetically-actuated surgical continuum manipulators

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