Research progress and development trend of surgical robot and surgical instrument arm

Zhang, Wu; Haiyuan, LI; Cui, Linlin; Li, Haiyang; Zhang, Xiangyan; Fang, Shanxiang; Zhang, Qinjian

doi:10.1002/rcs.2309

Cited by 35 publications

(22 citation statements)

References 96 publications

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“…As a powerful auxiliary surgery aid, surgical robots are increasingly employed in clinical applications worldwide. It is not to replace the surgeons completely, but to integrate the surgical techniques to assist the surgeon and improve their accuracy and success rate in performing surgical operation[ 31 ].…”

Section: Current Status Of Robotics In the Medical Fieldmentioning

confidence: 99%

“…Surgical robots first appeared in orthopedics in the 1930s when Dr. Bauer pioneered the technique of needle biopsies through the posterolateral spine[ 31 ]. Medtronic and Mazor Robotics collaborated to develop SpineAssist ®, the world’s first spinal surgery robot and one of the most widely used surgical robots to date, which was approved by the United States Food and Drug Administration (FDA) in 2004.…”

Section: Current Status Of Robotics In the Medical Fieldmentioning

confidence: 99%

“…Subsequently, Medtronic’s stealth software technology was combined with Mazor’s robotics to develop the next generation of Mazor X ® stealth robotics. It consists of a stand-alone robotic arm with an integrated linear optical camera that assesses the work environment through interactive 3D scanning to avoid collisions and improve predictability and flexibility during surgery[ 31 , 32 ]. Stryker Co. of the United States designed the MAKO Robot Auxiliary system, a semi-automatic robot that was approved by the FDA in 2015.…”

Section: Current Status Of Robotics In the Medical Fieldmentioning

confidence: 99%

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Research Progress of Robot Technology in In situ 3D Bioprinting

Neng¹,

Shi²,

Shen³

et al. 2022

IJB

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Three-dimensional (3D) bioprinting is an emerging research direction in bio-manufacturing, a landmark in the shift from traditional manufacturing to high-end manufacturing. It integrates manufacturing science, biomedicine, information technology, and material science. In situ bioprinting is a type of 3D bioprinting which aims to print tissues or organs directly on defective sites in the human body. Printed materials can grow and proliferate in the human body; therefore, the graft is similar to the target tissues or organs and could accurately match the defective site. This article mainly summarizes the current status of robotic applications in the medical field and reviews its research progress in in situ 3D bioprinting.

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Section: Current Status Of Robotics In the Medical Fieldmentioning

confidence: 99%

Section: Current Status Of Robotics In the Medical Fieldmentioning

confidence: 99%

Section: Current Status Of Robotics In the Medical Fieldmentioning

confidence: 99%

See 1 more Smart Citation

Research Progress of Robot Technology in In situ 3D Bioprinting

Neng¹,

Shi²,

Shen³

et al. 2022

IJB

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show abstract

“…The clinical application of surgical robots started a new chapter of intelligent medicine history. For surgeons, surgical robots cannot completely replace the primary surgical position, but they really benefit for minimal invasion and precise surgical requirements 15 . Due to the multiple functions that guide surgical navigation or precise operations, the performance of surgical robots in different disciplines has finally convinced surgeons and patients (Table 2).…”

Section: Status Of Research On Classification Of Surgical Robotsmentioning

confidence: 99%

Advanced surgical tool: Progress in clinical application of intelligent surgical robot

Zhang

Wang

et al. 2022

Smart Medicine

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Surgical robot is a revolutionary tool conceived in the progress of clinical medicine, computer science, microelectronics and biomechanics. It provides the surgeon with clearer views and more comfortable surgical postures. With the assistance of computer navigation during delicate operations, it can further shorten the patient recovery time via reducing intraoperative bleeding, the risk of infection and the amount of anesthesia needed. As a comprehensive surgical revolution, surgical robot technique has a wide range of applications in related fields. This paper reviews the development status and operation principles of these surgical robots. At the same time, we also describe their up‐to‐date applications in different specialties and discusses the prospects and challenges of surgical robots in the medical area.

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“…Medical robots are robots used for medical treatment or auxiliary medical care in medical scenarios. Medical robots can be divided into four categories: surgical robots [1] , rehabilitation robots [2] , auxiliary robots [3] , and service robots [4] .…”

Section: Introductionmentioning

confidence: 99%

输入受限的超冗余移动医疗机械臂混合控制

Zhang

Chen

Dong

2023

J. Shanghai Jiaotong Univ. (Sci.)

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To reduce the risk of infection in medical personnel working in infectious-disease areas, we proposed a hyper-redundant mobile medical manipulator (HRMMM) to perform contact tasks in place of healthcare workers. A kinematics-based tracking algorithm was designed to obtain highly accurate pose tracking. A kinematic model of the HRMMM was established and its global Jacobian matrix was deduced. An expression of the tracking error based on the Rodrigues rotation formula was designed, and the relationship between tracking errors and gripper velocities was derived to ensure accurate object tracking. Considering the input constraints of the physical system, a joint-constraint model of the HRMMM was established, and the variable-substitution method was used to transform asymmetric constraints to symmetric constraints. All constraints were normalized by dividing by their maximum values. A hybrid controller based on pseudo-inverse (PI) and quadratic programming (QP) was designed to satisfy the real-time motion-control requirements in medical events. The PI method was used when there was no input saturation, and the QP method was used when saturation occurred. A quadratic performance index was designed to ensure smooth switching between PI and QP. The simulation results showed that the HRMMM could approach the target pose with a smooth motion trajectory, while meeting different types of input constraints. Key words: input-constrained hybrid control, hyper-redundant mobile medical manipulator (HRMMM), pseudoinverse (PI), quadratic programming (QP), pose tracking CLC number: TP 242 Document code: A Nomenclature D-Normalized matrix e-Pose error ê-Joint position error f -Coefficient vector H -Coefficient matrix J -Global Jacobian matrix Jo-Jacobian matrix of the lifting manipulator LP-Pose-error interaction matrix LR-Rotating interaction matrix pe-Initial gripper pose p * e-Target gripper pose (px, py, pz)-Gripper position q-Joint position vector q0-Joint position vector at the previous moment q-Joint velocity vector q-Joint velocity vector with variable substitution R-Rotation matrix t-Position vector T -Homogeneous transformation matrix Uo-Normalized double-ended constraint v-Linear velocity Ve-Gripper velocity in the gripper coordinate system Vg-Gripper velocity in the world coordinate system α-Heading angle ζ-State of the mobile platform θ-Joint angle θu-Rotation vector ξ-Double-ended constraint (φx, φy, φz)-Gripper attitude ω-Angular velocity

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Research progress and development trend of surgical robot and surgical instrument arm

Cited by 35 publications

References 96 publications

Research Progress of Robot Technology in In situ 3D Bioprinting

Research Progress of Robot Technology in In situ 3D Bioprinting

Advanced surgical tool: Progress in clinical application of intelligent surgical robot

输入受限的超冗余移动医疗机械臂混合控制

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