Preoperative planning of three axis intersection surgical laparoscopic arm system based on characteristic parameters

Yang, Jing; Zhao, Yida; Han, Zejie; Zhang, Yang; Wang, Wenjie

doi:10.1007/s11548-023-02840-2

Cited by 2 publications

(1 citation statement)

References 16 publications

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“…Based on the previously designed three-axis intersecting laparoscopic arm, 20,21 the elimination method of physiological jitter in master-slave mapping was studied. To optimize the operation trajectory of the master manipulator, the physiological jitter of the surgeon’s hand was filtered out with the Savitzky-Golay filter.…”

Section: Problem Statementmentioning

confidence: 99%

Study on the laparoscopic visual field adjustment method based on master-slave mapping

Zhang,

Yang,

Han

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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The application of robotics technology in the medical field can effectively improve the accuracy of surgical operations. However, there is a challenge of movement inconsistency between the end of the laparoscope arm and the surgeon’s hand, as well as the leverage of instruments amplifying the physiological jitter of the surgeon’s hand, which can result in the jitter problem on the slave manipulator and reduce the operating accuracy of the surgical robot. To solve the problem, the Savitzky-Golay filter was used to optimize the trajectory of the master manipulator based on the master-slave mapping method, which was done to eliminate the influence of the physiological jitter. Comparative experiments with other methods were performed to demonstrate the effectiveness of this method. A virtual surgical simulation system and an experimental prototype were proposed to verify the method. The results showed that the method effectively reduced the influence of physiological jitter on master-slave motion control.

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Section: Problem Statementmentioning

confidence: 99%

Study on the laparoscopic visual field adjustment method based on master-slave mapping

Zhang,

Yang,

Han

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

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Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees

Fozilov,

Colan,

Sekiyama

et al. 2023

IEEE Access

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The growing need for high levels of autonomy in Autonomous Robotic Surgery Systems (ARSS) calls for innovative approaches to reduce surgeons' cognitive load, optimize hospital workflows, and ensure efficient task-level reasoning and adaptation during execution. This paper presents a novel hybrid framework that synergistically combines Task-Motion Planning and Dynamic Behavior Trees for ARSS in Minimally Invasive Surgery. Our approach is designed to address the challenges of coordinating multiple surgical tools within a small workspace, thereby making complex surgical tasks like multi-throw suturing feasible and efficient. Through an extensive evaluation in simulation across diverse initial conditions and noise scenarios, the proposed method demonstrates improved success rates, reduced execution times, and fewer regrasps compared to standalone approaches. Furthermore, it showcases robustness under increased noise conditions. By applying our framework to a complex multi-throw suturing task, we illustrate its capability to seamlessly handle comprehensive suturing tasks, including needle picking, insertion, extraction, and the handover of the needle between Patient Side Manipulators. The results suggest that our hybrid approach not only enhances ARSS autonomy but also adapts effectively to unexpected environmental changes, laying the groundwork for its potential applicability in real-world surgical robotics.

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Preoperative planning of three axis intersection surgical laparoscopic arm system based on characteristic parameters

Cited by 2 publications

References 16 publications

Study on the laparoscopic visual field adjustment method based on master-slave mapping

Study on the laparoscopic visual field adjustment method based on master-slave mapping

Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees

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