Prototype Design of Robotic Surgical Instrument for Minimally Invasive Robot Surgery

2012 ◽  
pp. 20-28 ◽  
Author(s):  
Man Bok Hong ◽  
Yung-Ho Jo
Keyword(s):  
Minimally Invasive ◽  
Surgical Instrument ◽  
Robot Surgery ◽  
Prototype Design

Design of Double-Light Shadowless Lifting Retractor

2012 ◽  
Vol 499 ◽  
pp. 248-252
Author(s):  
Jun Sun ◽  
Bo Xiang ◽  
Ping Zhou ◽  
Rui Wang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Single Port ◽  
Abdominal Cavity ◽  
Surgical Instrument ◽  
Design Requirement ◽  
Gasless Laparoscopy ◽  
Minimally Invasive Surgical ◽  
Patented Product

The single-port gasless laparoscopic surgical instrument is an international leading patented product in minimally invasive surgery. This paper first describes the composition and the usage of the shadowless retractor of the single-port gasless laparoscopy minimally invasive surgical instrument. Aim to meet the specific requirement arise in the minimally invasive surgery for the animal abdominal cavity, we first improve the existing shadowless lifting retractor. Then, this paper proposes and designs the double-light shadowless lifting retractor. The test has shown the designed double-light shadowless lifting retractor has satisfied the design requirement. The practical tests have been done and shown the viability and effectiveness of the proposed design approach.

Research Gravity Compensation for Master Manipulator with Time Delay

2014 ◽  
Vol 496-500 ◽  
pp. 1413-1416 ◽  
Author(s):  
Hong Min Wang ◽  
Zhi Jiang Du ◽  
Zhi Kai Zhao ◽  
Rong Qiang Liu
Keyword(s):  
Signal Processing ◽  
Control System ◽  
Time Delay ◽  
Minimally Invasive ◽  
External Force ◽  
Dynamic Equation ◽  
Motor Output ◽  
Gravity Compensation ◽  
Robot Surgery ◽  
Output Torque

A gravity compensation algorithm for master manipulator used in minimally invasive robot surgery is proposed in this paper. The Lagrange dynamic equation is used to solve the motor output torque for balancing the master gravity. To avoid time delay in signal processing, multi-thread and multi-event technology are used in software control system. With the algorithm, the force by hand is very small under the condition of exist gravity compensation, less output more than 90% of the external force compared with the lack of gravity compensation.

scholarly journals Design of a Surgical Port for Minimally Invasive Beating-Heart Intracardial Procedures

2011 ◽  
Vol 5 (4) ◽  
Author(s):  
Christopher M. DiBiasio ◽  
Keith V. Durand ◽  
Jonathan Hopkins ◽  
Zach Traina ◽  
Alexander H. Slocum ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Surgical Procedures ◽  
Beating Heart ◽  
Surgical Instruments ◽  
Direct Access ◽  
Surgical Instrument ◽  
System A ◽  
Pulmonary Bypass ◽  
Heart Wall ◽  
Rapid Tool

Direct-access, minimally invasive, beating-heart intracardial procedures have the potential to replace many traditional surgical procedures requiring cardio-pulmonary bypass as long as micro-emboli are prevented from entering the cardiovascular system. A new surgical port was developed to introduce surgical instruments into chambers of the beating heart during minimally invasive, intracardial surgical procedures without allowing the introduction of micro-emboli 0.1 mm or larger in size. The design consists of an outer port body that is secured to the heart wall using a purse string suture and a series of inner tubular sleeves that form the interface between the port and the transecting instrument. The design enables rapid tool changes and accommodates a wide variety of instruments. The port uses a fluid purging system to dislodge and remove emboli from a surgical instrument. Laboratory and clinical tests show that the port adequately seals around a surgical instrument and prevents the introduction of emboli with diameters greater than 0.1 mm into the heart while minimizing hemorrhage.

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