Single-port robotic manipulator system for brain tumor removal surgery: SiromanS

Seung, Sungmin; Liu, Pengxin; Park, Sukho; Park, Jong-Oh; Ko, Seong Young

doi:10.1016/j.mechatronics.2014.12.002

Cited by 19 publications

(15 citation statements)

References 28 publications

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“…Previous research has mainly focused on 3-DOF continuum robot kinematics and did not consider the extra DOF required to control the heading of the US imaging plane [7]–[12]. Our kinematics derivation follows the methodology in [8].…”

Section: Catheter Kinematicsmentioning

confidence: 99%

“…The clinician teleoperating the catheter can compensate for targeting errors. Automated flexible manipulator motion in constrained bench top environments has been demonstrated by research prototypes [7]–[12]. These prototypes have not been shown to steer accurately in the unconstrained environments typical of catheter interventions, and do not control the orientation of the manipulator tip, which is crucial for US imaging.…”

Section: Introductionmentioning

confidence: 99%

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Compensation for unconstrained catheter shaft motion in cardiac catheters

Değirmenci

Loschak

Tschabrunn

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Cardiac catheterization with ultrasound (US) imaging catheters provides real time US imaging from within the heart, but manually navigating a four degree of freedom (DOF) imaging catheter is difficult and requires extensive training. Existing work has demonstrated robotic catheter steering in constrained bench top environments. Closed-loop control in an unconstrained setting, such as patient vasculature, remains a significant challenge due to friction, backlash, and physiological disturbances. In this paper we present a new method for closed-loop control of the catheter tip that can accurately and robustly steer 4-DOF cardiac catheters and other flexible manipulators despite these effects. The performance of the system is demonstrated in a vasculature phantom and an in vivo porcine animal model. During bench top studies the robotic system converged to the desired US imager pose with sub-millimeter and sub-degree-level accuracy. During animal trials the system achieved 2.0 mm and 0.65° accuracy. Accurate and robust robotic navigation of flexible manipulators will enable enhanced visualization and treatment during procedures.

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Section: Catheter Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Compensation for unconstrained catheter shaft motion in cardiac catheters

Değirmenci

Loschak

Tschabrunn

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…A number of bendable manipulators were proposed for interventions when the target is not in straight‐line access. Commonly, a distinction is made between articulated systems (manipulators composed of discrete rigid links connected by joints) and continuum systems (manipulators typically featuring an elastic structure, whose deformed shape can be swept with continuous tangent frame). In addition, a few “hybrid” articulated/continuum designs have been recently proposed.…”

Section: Introductionmentioning

confidence: 99%

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery

Tamadon

Huan

Groot

et al. 2020

Robotics Computer Surgery

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Background Hollow, bendable manipulators can advance implant delivery in minimally invasive surgery, by circumventing the drawbacks of straight‐line delivery and fostering single‐port approaches. Variable stiffness manipulators are sought to be safe and effective. Methods We designed and experimentally assessed a cable‐driven articulated/continuum manipulator, devised for cardiac valve delivery. Positioning and stiffening were teleoperated, based on cable shortening. Stiffening was parameterized by using the leading tension (LT, ie, tension of the cables driving bending). We assessed positioning (repeatability/reversibility along eight/two bending directions) and stiffening (eight bent configurations). Results We achieved good repeatability and reversibility (mean errors <1% and 1.5%, respectively, of the workspace characteristic length). Stiffening was effective (up to 9‐fold increase, depending on pose). Stiffening was linearly correlated (R2 = 0.92) with LT for all the considered configurations. Conclusion We accurately positioned and effectively stiffened the manipulator in several bent configurations. The proposed stiffness modulation strategy can be extended to other manipulators.

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“…At the end of their study, they observed that using robotic guidance both increased the accuracy of the operation and decreased the overall operation duration compared with the other methods. Ko et al introduced the design of a single port surgery manipulator (SiromanS) for brain tumour removal in order to minimize the sizes of surgical incisions. The proposed robotic system includes an endoscope with the light source and dual arms with multi degrees of freedom that are inserted to the target area through cylindrical insertion housing.…”

Section: Introductionmentioning

confidence: 99%

Structural design of a positioning spherical parallel manipulator to be utilized in brain biopsy

Gezgin

Özbek

Güzin

et al. 2019

Robotics Computer Surgery

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Background During the last decades, there has been a great increase in the usage of robotic systems during surgeries in order to reach increased operational precision, reduced operation times, enhanced recovery periods, low infection risks, and limited scar formations for aesthetic reasons. In light of this, the current study focuses on the field of robotic surgery by introducing the kinematic structure of the precise robotic positioning manipulator for brain biopsy. Methodology Throughout the study, two degrees of freedom spherical parallel robot manipulator was proposed in order to position brain biopsy needle precisely during the brain biopsy operation on the target workspace. Results Direct and inverse kinematics of the manipulator were carried out parametrically by using quaternion algebra. The prototype of the manipulator was manufactured by rapid prototyping for hardware verification. Conclusions Hardware verification of the manufactured prototype was completed distinctly by using motion capture cameras and manufactured mock‐up setup that mimics tumour locations inside the brain. Successful verification results in terms of precision were achieved.

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Single-port robotic manipulator system for brain tumor removal surgery: SiromanS

Cited by 19 publications

References 28 publications

Compensation for unconstrained catheter shaft motion in cardiac catheters

Compensation for unconstrained catheter shaft motion in cardiac catheters

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery

Structural design of a positioning spherical parallel manipulator to be utilized in brain biopsy

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