Virtual tool for bilaterally controlled forceps robot‐for minimally invasive surgery

Abeykoon, A. M. Harsha S.; Ohnishi, Kouhei

doi:10.1002/rcs.147

Cited by 15 publications

(8 citation statements)

References 11 publications

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“…As shown in the experimental results, the developed robot realizes precise traction force control for ensuring that the thread does not break and the knot stays firmly in place. Force information can be obtained from observers implemented in the control algorithms 25–27 . In this method, force information is estimated based on the position, thus enabling sensorless force control.…”

Section: Discussionmentioning

confidence: 99%

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Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability

Hangai

Nozaki

Soma

et al. 2020

Robotics Computer Surgery

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Background Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage. Methods To meet the demands, we developed a novel assist robot utilizing high‐precision sensorless haptic technology. The robot adopts a cable‐driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model. Results The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error. Conclusions The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.

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Section: Discussionmentioning

confidence: 99%

“…information can be obtained from observers implemented in the control algorithms. [25][26][27] In this method, force information is estimated based on the position, thus enabling sensorless force control.…”

Section: F I G U R Ementioning

confidence: 99%

Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability

Hangai

Nozaki

Soma

et al. 2020

Robotics Computer Surgery

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“…The relationship between environment reaction and position denotes the environmental impedance as (3). These parameters are expected to be calculated using the 3D data during the experiment.…”

Section: A Model Of the Environmentmentioning

confidence: 99%

“…The master is the operator who issues the commands and the slave which is in contact with the environment follows the commands of the master. Position and force information is transmitted bilaterally between the slave side and the master side [3].…”

Section: Introductionmentioning

confidence: 99%

3D environmental force: Position impedance variation for different motion parameters

Ruwanthika

Abeykoon

2015

2015 Moratuwa Engineering Research Conference (MERCon)

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The skill preservation of an expert has been a serious problem for countries with aging population because decrease of the number of successors. The concepts of haptic database and force sensor recorder which have been developed recently suggests solutions of using third multimedia type of haptic communication. Haptic information is a bilateral information of the law of action and reaction. The reaction from real world includes not only position and force information but also environmental impedance. In this paper, the behavior of environmental impedance has been studied with the changes of the different motion parameters like applied force, velocity, position and depth on the object 3D space. This idea is exemplified using a rubber balloon and a rubber sponge which is often modeled using simple linear equations. The experimental results show the importance of considering motion parameters when abstracting haptic information for a haptic database. Nonlinear impedance variations against the motion parameters suggest the necessity of adopting complex haptic abstraction techniques.

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“…A tactile sensor for surgical instruments has been introduced by Schostek et al [101]. Similar to a recently presented tactile sensing system for telemanipulator devices [1], the tactile feedback is communicated visually to the surgeon. Ottermo et al [93] compared a custom built laparoscopic instrument including a sensor array for tactile sensing with haptic perception during open surgery (gloved fingers), and perception with conventional laparoscopic instruments.…”

Section: Organ Shift and Tissue Deformationmentioning

confidence: 99%

Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

Baumhauer

Feuerstein

Meinzer

et al. 2008

Journal of Endourology

163

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Abstract-Despite rapid developments in the research areas medical imaging, medical image processing and robotics, the use of computer assistance in surgical routine is still limited to diagnostics, surgical planning, and interventions on mostly rigid structures. In order to establish a computer aided workflow from diagnosis to surgical treatment and follow-up, several proposals for computer assisted soft tissue interventions have been made in recent years. By means of different pre-and intraoperative information sources, like surgical plannings, intraoperative imaging, and tracking devices, surgical navigation systems aim at supporting surgeons in localizing anatomical targets, observing critical structures, and sparing healthy tissue. Current research in particular addresses the problem of organ shift and tissue deformation, and obstacles in communication between navigation system and surgeon.In this article, we review computer assisted navigation systems for soft tissue surgery. We concentrate on approaches which can be applied in endoscopic thoracic and abdominal surgery, as endoscopic surgery has special needs for image guidance due to limitations in perception. Furthermore, this article provides the reader with new trends and technologies in the area of computer assisted surgery. Finally, a balancing of key challenges and possible benefits of endoscopic navigation refines the perspectives of this increasingly important discipline of computer aided medical procedures.

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Virtual tool for bilaterally controlled forceps robot‐for minimally invasive surgery

Abstract: The virtual model adds a load to the system. The master and slave responses are slightly different, but the result is good enough for the application. This novel approach could be used in many master-slave applications.

Cited by 15 publications

References 11 publications

Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability

Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability

3D environmental force: Position impedance variation for different motion parameters

Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

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