Optimal design of high dexterity modular MIS instrument for coronary artery bypass grafting

Sallé, Damien; Bidaud, Philippe; Morel, Guillaume

doi:10.1109/robot.2004.1308000

Cited by 33 publications

(17 citation statements)

References 5 publications

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“…Friction generated within the instrument and between the instrument and the access port greatly exceeds manipulation forces at the operation site. Exerted forces cited in the literature range from 0.3 N for bypass grafting (Salle et al, 2004) to about 4 N normal and 50 N along the instrument shaft in cholecystectomy (Rosen, 2001). This unexpectedly large range is not sufficiently explained and will need to be investigated.…”

Section: The Impact Of Haptic Feedback On Surgical Performancementioning

confidence: 94%

Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery

Seibold¹,

Kuebler²,

Hirzinger³

2008

Medical Robotics

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Section: The Impact Of Haptic Feedback On Surgical Performancementioning

confidence: 94%

Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery

Seibold¹,

Kuebler²,

Hirzinger³

2008

Medical Robotics

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“…Approaches have optimized various metrics and have used genetic algorithms [6,16,19,30], interval analysis [21], geometric methods [32], and gridbased methods [25]. These methods typically lack theoretical performance guarantees or achieve computational tractability by imposing significant assumptions on the robot's workspace and by using simplified kinematic models, which limit the effectiveness and applicability of the optimization procedure.…”

Section: Related Workmentioning

confidence: 99%

Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning

Baykal

Alterovitz

2017

Robotics: Science and Systems XIII

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Abstract-In highly constrained settings, e.g., a tentacle-like medical robot maneuvering through narrow cavities in the body for minimally invasive surgery, it may be difficult or impossible for a robot with a generic kinematic design to reach all desirable targets while avoiding obstacles. We introduce a design optimization method to compute kinematic design parameters that enable a single robot to reach as many desirable goal regions as possible while avoiding obstacles in an environment. We focus on the kinematic design of piecewise cylindrical robots, robotic manipulators whose shape can be modeled via cylindrical components. Our method appropriately integrates sampling-based motion planning in configuration space into stochastic optimization in design space so that, over time, our evaluation of a design's ability to reach goals increases in accuracy and our selected designs approach global optimality. We prove the asymptotic optimality of our method and demonstrate performance in simulation for (i) a serial manipulator and (ii) a concentric tube robot, a tentaclelike medical robot that can bend around anatomical obstacles to safely reach clinically-relevant goal regions.

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“…Methods such as Synergy [11] and Darwin2k [14] rely on genetic algorithms to perform multiple simulations to optimize the structure of a robot for various metrics. This methodology has been applied to the design of manipulators [4] and surgical robots [24]. However, these approaches provide no guarantees on performance.…”

Section: Related Workmentioning

confidence: 99%

Task-oriented design of concentric tube robots using mechanics-based models

Torres

Webster

Alterovitz

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We introduce a method for task-oriented design of concentric tube robots, which are highly modular, tentaclelike robots with the potential to enable new minimally invasive surgical procedures. Our objective is to create a robot design on a patient-specific and surgery-specific basis to enable the robot to reach multiple clinically relevant sites while avoiding anatomical obstacles. Our method uses a mechanically accurate model of concentric tube robot kinematics that considers a robot's time-varying shape throughout the performance of a task. Our method combines a search over a robot's design space with sampling-based motion planning over its configuration space to compute a design under which the robot can feasibly perform a specified task without damaging surrounding tissues. To accelerate the algorithm, we leverage design coherence, the observation that collision-free configuration spaces of robots of similar designs are similar. If a solution exists, our method is guaranteed, as time is allowed to increase, to find a design and corresponding feasible motion plan. We provide examples illustrating the importance of using mechanically accurate models during design and motion planning and demonstrating our method's effectiveness in a medically motivated simulated scenario involving navigation through the lung.

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Optimal design of high dexterity modular MIS instrument for coronary artery bypass grafting

Cited by 33 publications

References 5 publications

Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery

Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery

Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning

Task-oriented design of concentric tube robots using mechanics-based models

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