MARGE Project: Design, Modeling and Control of Assistive Devices for Minimally Invasive Surgery

Dombre, Etienne; Michelin, Micaël; Pierrot-Deseilligny, Marc; Poignet, Philippe; Bidaud, Philippe; Morel, Guillaume; Ortmaier, Tobias; Sallé, Damien; Zemiti, Nabil; Gravez, Philippe; Karouia, Mourad; Bonnet, Nicolas

doi:10.1007/978-3-540-30136-3_1

Cited by 19 publications

(12 citation statements)

References 7 publications

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“…In non-mechanical RCM, however, the pivoting motion is generated by virtue of coordinated control of multiple joints in high-DOF robots. For example, Dombre et al (42) reported a programmable RCM MIS robot used for endoscopy, Figure 9. The endoscopic instrument is held by the end-effector of the robot and is virtually pivoted at the trocar point by means of the computer-simulated trocar constraints.…”

Section: Non-mechanical Rcms and Passive Rcmsmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic design considerations for minimally invasive surgical robots: an overview

Kuo

Dai

Dasgupta

2012

Robotics Computer Surgery

189

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Section: Non-mechanical Rcms and Passive Rcmsmentioning

confidence: 99%

“…MIS robot with embedded RCM mechanismda Vinci robotic arm (18) MIS robot with attached RCM mechanism module -FreeHand robot (50) MIS robot foemed as a RCM mechanism -CoBRASurge robot (51) Non-mechanical RCM: the MARGE robot(42) …”

mentioning

confidence: 99%

Kinematic design considerations for minimally invasive surgical robots: an overview

Kuo

Dai

Dasgupta

2012

Robotics Computer Surgery

189

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“…Hence, a significant number of works have addressed robot-assisted enhancement of distal dexterity in MIS [2][3][4][5][6][7][8][9][10][11]. Of these works, few addressed the problem of dexterity enhancement in deep surgical fields [6,10,12].…”

Section: Introductionmentioning

confidence: 99%

Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity

Wei

Goldman

Simaan

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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This paper addresses the design considerations and dexterity evaluation of a novel hybrid two-armed micro-surgical slave robot equipped with intraocular dexterity devices. A unified framework for the kinematic modeling of this robot is presented while using the kinematic constraints stemming from the constrained motion of the eye. An augmented Jacobian describing the kinematics of the eye and the relative motion of each one of the two Intra-Ocular Dexterity Robots (IODR) is presented. Using this framework, the capabilities of this two-armed robot in performing dexterous intraocular operations are evaluated and compared to a similar robot without intra-ocular dexterity. The Kinematic Conditioning Index (KCI) for the proposed robot is shown to be significant. The results presented show an increase of approximately 33% and 47% in translational and rotational KCI respectively.

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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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MARGE Project: Design, Modeling and Control of Assistive Devices for Minimally Invasive Surgery

Cited by 19 publications

References 7 publications

Kinematic design considerations for minimally invasive surgical robots: an overview

Kinematic design considerations for minimally invasive surgical robots: an overview

Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity

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

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