On laparoscopic robot design and validation

Muñoz, V.F.; Lozano, Juan Jesús Fernández; Gómez-de-Gabriel, Jesús M.; García-Morales, I.; Mesa, Rico; Pérez-del-Pulgar, Carlos Jesús

doi:10.3233/ica-2003-10301

Cited by 18 publications

(6 citation statements)

References 11 publications

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“…In order to validate effectiveness of position planning strategy, collision test and virtual simulation in MIS environment are made. Taking right inguino-femoral hernia repair as example validates position planning strategy [9]. The study is restricted to possible collisions with surgeon and his assistant.…”

Section: )mentioning

confidence: 99%

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Position Planning for Laparoscopic Robot in Minimally Invasive Surgery

Pan

Wang

2007

2007 International Conference on Mechatronics and Automation

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A position planning strategy based on dexterity and manipulability is proposed for meeting laparoscopic robot's requirement in minimally invasive surgery. Robot moves laparoscope to the desired point and not to interfere with surgical term. In order to demonstrate position planning method to develop tasks it has been designed for, simulation based on concept of configuration space and position planning strategy has been performed, and angle variation of each joints have been presented in virtual environment. Results verify the effectiveness of proposed position planning strategy.

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Section: )mentioning

confidence: 99%

“…A robot configuration q is defined as a vector whose components contain information about the current state of robot [9]. It can be defined, once the kinematic structure of robot is set, as:…”

Section: B Configuration Spacementioning

confidence: 99%

Position Planning for Laparoscopic Robot in Minimally Invasive Surgery

Pan

Wang

2007

2007 International Conference on Mechatronics and Automation

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“…There are many kinds of mechanism constraints to achieve the RCM. In a few previous studies (Fernández-Lozano et al , 2002; Muñoz et al , 2003, 2001), the wireless laparoscopic robot uses passive joints to realize the RCM. This mechanism owns simpler and safer mechanism, but it is necessary to work with another constraint device such as a special trocar.…”

Section: Mechanical Structurementioning

confidence: 99%

Design of a novel robotic system for minimally invasive surgery

Pan

et al. 2017

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Purpose Robot-assisted system for minimally invasive surgery (MIS) has been attracting more and more attentions. Compared with a traditional MIS, the robot-assisted system for MIS is able to overcome or reduce defects, such as poor hand-eye coordination, heavy labour intensity and limited motion of the instrument. The purpose of this paper is to design a novel robotic system for MIS applications. Design/methodology/approach A robotic system with three separate slave arms for MIS has been designed. In the proposed robot, a new mechanism was designed as the remote centre motion (RCM) mechanism to restrain the movement of instrument or laparoscope around the incision. Moreover, an improved instrument without coupling motion between wrist and grippers was developed to enhance its manipulability. A control system architecture was also developed, and an intuitive control method was applied to realize hand-eye coordination of the operator. Findings For the RCM mechanism, the workspace was analyzed and the positioning accuracy of the remote centre point was tested. The results show that the RCM mechanism can be applied to MIS. Furthermore, the master-slave trajectory tracking experiments reveal that slave robots are able to follow the movement of the master manipulators well. Finally, the feasibility of the robot-assisted system for MIS is proved by performing animal experiments successfully. Originality/value This paper offers a novel robotic system for MIS. It can accomplish the anticipated results.

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“…Because of the tiredness of the surgeon, focusing the point of interest can also become a difficult task [7,8] . Comparing with human, surgical robotic system has the advantages, such as working stably, precisely, dexterously, and fearless of radiation and infection [9,10] .…”

Section: Introductionmentioning

confidence: 99%

Puncture Locating for Laparoscopic Robot in Minimally Invasive Surgery

Dong

Zhang

et al. 2008

2008 Second International Symposium on Intelligent Information Technology Application

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This paper presents an assistant laparoscopic robot with active and passive joints for helping surgeon in minimally invasive surgery. With the character of passive joints, a method to locate the relative position of patient's puncture to the coordinate system of the robot was provided. Through geometric relationship, the coordinates of patient's puncture were measured, and laparoscope posture is offered for the control of the robot. In order to demonstrate the validity of the method, experiment on location system has been performed, the results and error analysis verified that patient's puncture can be located precisely by using the method, and the laparoscope surgical robot worked well.Index Terms -Laparoscopic robot. Patient's puncture location. Gesture model and inverse kinematics. Location experiment.

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On laparoscopic robot design and validation

Cited by 18 publications

References 11 publications

Position Planning for Laparoscopic Robot in Minimally Invasive Surgery

Position Planning for Laparoscopic Robot in Minimally Invasive Surgery

Design of a novel robotic system for minimally invasive surgery

Puncture Locating for Laparoscopic Robot in Minimally Invasive Surgery

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