scholarly journals Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery

2021 ◽  
Author(s):  
Dingzhi Zhang ◽  
Yilun Sun ◽  
Tim C. Lueth
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tissue Injury ◽  
Rolling Contact ◽  
Element Analysis ◽  
Bending Angle ◽  
Contact Joint ◽  
Compliant Joint ◽  
Contact Mechanism

Abstract Purpose Compliant mechanisms are commonly used in the design of manipulator and surgical robotic tools for minimally invasive surgery (MIS) thanks to their compactness, ability of miniaturization and lower part count. However, conventional compliant joint has higher internal stiffness, which limits the bending radius. To overcome this problem, a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint (CRCJ) is proposed. Methods The proposed rolling-contact mechanism is used to prevent cable slack during actuation, which occurs in conventional compliant joint design. By means of selective laser sintering (SLS) technique, the CRCJ can be fabricated in a monolithic structure, thus granting the CRCJ both the advantages of compliant joints and rolling-contact mechanism. Simulations with nonlinear finite element analysis (FEA) and experiments were conducted to evaluate and compare the mechanical properties of the proposed CRCJ with conventional leaf-type compliant joint including the bending and compliant motion. Results Experimental results showed that the CRCJ has lower bending stiffness, higher maximum bending angle (over $$180^{\circ }$$ 180 ∘ ) and a higher compliance compared to conventional compliant hinges, which allows a larger workspace and reduces the possibility of tissue injury. Agreement was also found between the nonlinear FEA and experiments regarding the relation between actuation force and bending angle. A primary prototype of a 3-DOF handheld laparoscopic manipulator with a diameter of 7 mm was further developed. Conclusion A dexterous tendon-driven monolithic manipulator structure based on CRCJ for MIS is proposed. A preliminary prototype of a handheld laparoscopic manipulator demonstrates the capability of the CRCJ for steerable medical devices. However, design improvements based on FEA and application-orientated prototypes considering anatomical requirements still show room for improvements.

Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery

2005 ◽  
Vol 127 (6) ◽  
pp. 990-993 ◽  
Author(s):  
Mary I. Frecker ◽  
Katherine M. Powell ◽  
Randy Haluck
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Compliant Mechanism ◽  
Tissue Injury ◽  
Optimized Design ◽  
Jaw Opening ◽  
Multifunctional Device ◽  
Grasping Force ◽  
Length Width

A new multifunctional compliant instrument has been designed for use in minimally invasive surgery. The instrument combines scissors and forceps into a single multifunctional device. The main advantage of using multifunctional instruments for minimally invasive surgery is that instrument exchanges can be reduced, thus reducing procedure time and risk of inadvertent tissue injury during instrument exchanges. In this paper, the length, width, and thickness of the multifunctional compliant mechanism tool tip is optimized to maximize the jaw opening and the grasping force. The optimized design is then modeled to simulate the stresses encountered in the scissors mode. A 5.0mm diameter stainless steel prototype is fabricated using electro-discharge machining and is shown to grasp and cut successfully.

scholarly journals A randomized 500-subject open-label phase 3 clinical trial of minimally invasive surgery plus alteplase in intracerebral hemorrhage evacuation (MISTIE III)

2019 ◽  
Vol 14 (5) ◽  
pp. 548-554 ◽  
Author(s):  
Wendy C Ziai ◽  
Nichol McBee ◽  
Karen Lane ◽  
Kennedy R Lees ◽  
Jesse Dawson ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Intracerebral Hemorrhage ◽  
Invasive Surgery ◽  
Tissue Injury ◽  
Surgical Removal ◽  
Open Label ◽  
Phase 3 ◽  
Patient Disposition ◽  
Open Label Phase

Rationale and hypothesisSurgical removal of spontaneous intracerebral hemorrhage may reduce secondary destruction of brain tissue. However, large surgical trials of craniotomy have not demonstrated definitive improvement in clinical outcomes. Minimally invasive surgery may limit surgical tissue injury, and recent evidence supports testing these approaches in large clinical trials.Methods and designMISTIE III is an investigator-initiated multicenter, randomized, open-label phase 3 study investigating whether minimally invasive clot evacuation with thrombolysis improves functional outcomes at 365 days compared to conservative management. Patients with supratentorial intracerebral hemorrhage clot volume ≥ 30 mL, confirmed by imaging within 24 h ofknown symptom onset,and intact brainstem reflexes were screened with a stability computed tomography scan at least 6 h after diagnostic scan. Patients who met clinical and imaging criteria (no ongoing coagulopathy; no suspicion of aneurysm, arteriovenous malformation, or any other vascular anomaly; and stable hematoma size on consecutive scans) were randomized to either minimally invasive surgery plus thrombolysis or medical therapy. The sample size of 500 was based on findings of a phase 2 study.Study outcomesThe primary outcome measure is dichotomized modified Rankin Scale 0–3 vs. 4–6 at 365 days adjusting for severity variables. Clinical secondary outcomes include dichotomized extended Glasgow Outcome Scale and all-cause mortality at 365 days; rate and extent of parenchymal blood clot removal; patient disposition at 365 days; efficacy at 180 days; type and intensity of ICU management; and quality of life measures. Safety was assessed at 30 days and throughout the study.

Design of a 1.0mm Multifunctional Forceps-Scissors Instrument for Minimally Invasive Surgery

2006 ◽  
Author(s):  
Milton E. Aguirre ◽  
Mary Frecker
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Compliant Mechanism ◽  
Rectangular Cross Section ◽  
Geometric Constraints ◽  
Element Analysis ◽  
Performance Space

A multifunctional forceps-scissors instrument is designed for minimally invasive surgery. The device is a compliant mechanism capable of both grasping and cutting. The focus of the paper is on the design optimization and a detailed finite element analysis of the compliant mechanism. One-half of the symmetric compliant mechanism is modeled as a cantilever beam of rectangular cross-section undergoing large deformation. The optimization problem is solved graphically where all feasible designs (i.e., those that satisfy the stress and geometric constraints) are displayed on performance space plots. Using this method it is easy to visualize the performance space and to select a suitable design; however, it is found that it is not possible to simultaneously maximize free deflection and blocked force in the forceps or scissors modes. A detailed finite element analysis was conducted using ANSYS to model the multiple loading conditions. A prototype instrument, fabricated from stainless steel using wire EDM with the precision of +/- 2 μm, has been tested for comparison of actual and predicted results.

Towards an Articulated Needle

2012 ◽  
Vol 152-154 ◽  
pp. 946-951 ◽  
Author(s):  
Yi Zhong Wang ◽  
Qi Long Yin ◽  
Cheng Jie Liu ◽  
Yong Hua Chen
Keyword(s):  
Minimally Invasive Surgery ◽  
Path Planning ◽  
Minimally Invasive ◽  
Human Body ◽  
Invasive Surgery ◽  
Diagnosis And Treatment ◽  
Bending Angle ◽  
Bending Performance ◽  
Medical Instruments ◽  
Basic Medical

Needle is a kind of basic medical instruments in minimally invasive surgery. A thin and long needle is inserted into a human body through the skin to perform diagnosis and treatment tasks. In order to improve the steerability of a needle, articulated needle is proposed in this paper. An articulated needle consists of a head with a bevel-tip, several articulations and several sections. Articulations are much easier to be bent, which allows proposed articulated needle to be more easily controlled to achieve a complex curved trajectory. The structure of the articulated needle is investigated for improving its bending performance. The influences of the angle of bevel-tip, the sectional dimension of sections, the number of articulations, the maximum bending angle of articulations, and the distribution of articulations on the bending performance of the needle are studied, which provide the basis for path planning and navigation of an articulated needle.

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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