Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery

Lescano, Sergio; Zlatanov, Dimiter; Rakotondrabe, Micky; Andreff, Nicolas

doi:10.1007/978-3-319-10723-3_14

Cited by 9 publications

(8 citation statements)

References 9 publications

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“…By transferring imaging from outside the patient to a chip-on-the-tip approach, direct visualization of the surgical scene with decreased extension of the neck is feasible. By incorporating a novel beam deflecting micro manipulator in the endoscopic tip [8] reduction of the working distance and workspace enlargement are achieved respectively. The μRALP setup is shown in Fig.…”

Section: System Designmentioning

confidence: 99%

Flexible Robot for Laser Phonomicrosurgery

et al. 2015

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In this contribution we present a customized flexible robot developed as endoscopic device for laser phonomicrosurgery. Following the idea of soft robotics we describe the conventional clinical setting and adjunct benefits of the proposed assistance device to facilitate gentle surgery and usability in the operating room. Design constraints are obtained from medical image data implementing a mechanical design comprising compliant and flexible sections, actuation unit and multifunctional tip. We present results of a proof of concept experiment using a patient phantom, demonstrating the applicability of our system for laryngeal access.

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Section: System Designmentioning

confidence: 99%

Flexible Robot for Laser Phonomicrosurgery

et al. 2015

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“…This device, whose first prototype is described in [1], is inserted in the larynx of the patient; it delivers the laser to the surgical field through an internal laser fiber. An actuated micro-mirror on the distal tip provides the means for laser motion [2]. Visualization of the surgical field is enabled by a pair of miniaturized high-definition cameras mounted on tip.…”

Section: Flexible Endoscopementioning

confidence: 99%

Realization of a Cognitive Supervisory System for Laser Microsurgery

Fichera

2016

Springer Theses

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Based on the models presented in Chaps. 4 and 5, here we describe the development of a prototypical supervisory system for laser microsurgery. The objective is to prove the concept formulated in Chap. 3 of a system capable of monitoring (i) the superficial temperature of tissues and (ii) the laser cutting depth during a surgical intervention. As mentioned in the introduction of this dissertation, the work presented here is part of a broader research effort carried out at the Istituto Italiano di Tecnologia (IIT), in the scope of the European project µRALP. This research recently culminated in the development of a novel computer-assisted surgical platform for laryngeal laser procedures, called the "µRALP Surgical System". The Cognitive Supervisor is implemented as a software component and integrated to this platform. This chapter begins with a description of the µRALP Surgical System and the hardware components it involves. Then, a technical description of the Cognitive Supervisory System is given, with a focus on its integration within the µRALP System. Finally, we report on a preliminary evaluation study, aiming to verify the system's performance in an operational context. Laser trials were performed, in which users' performance in tasks involving incisions to a pre-specified depth were assessed.

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“…In a previous work [4], we performed the complete kinematic analysis of the proposed kinematic structure (Fig. 5) using screw theory and considering perfect joints and undeformable links of the microrobot.…”

Section: A Kinematic Descriptionmentioning

confidence: 99%

Precision prediction using interval exponential mapping of a parallel kinematic smart composite microstructure

Lescano

Rakotondrabe

Andreff

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper, a method to predict the precision of parallel microstructures made of carbon fibers, polyimide layers and piezoelectric materials is proposed. To this aim, we propose to combine the exponential representation of transformation matrix with intervals to bound the uncertainties in each flexure joint of the microstructures. Based on interval techniques and algorithms, the derived model permits to guarantee a bound on the precision value of the end effector. The method has been demonstrated with a numerical example of parallel microrobot devoted to orient the laser spot towards vocal fold during phonomicrosurgery. This example considers the uncertainties that occur in the compliant joints caused by the fabrication technique.

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Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery

Cited by 9 publications

References 9 publications

Flexible Robot for Laser Phonomicrosurgery

Flexible Robot for Laser Phonomicrosurgery

Realization of a Cognitive Supervisory System for Laser Microsurgery

Precision prediction using interval exponential mapping of a parallel kinematic smart composite microstructure

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