scholarly journals Theoretical and experimental study methods for a robotic system with deformable elements used in minimally invasive surgery

2022 ◽  
Vol 167 ◽  
pp. 104459
Author(s):  
Nicolae Dumitru ◽  
Leonard Ciurezu-Gherghe ◽  
Cristian Copiluși ◽  
Ionut Geonea ◽  
Sorin Dumitru
Keyword(s):  
Experimental Study ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic System ◽  
Study Methods

Design of a novel robotic system for minimally invasive surgery

2017 ◽  
Vol 44 (3) ◽  
pp. 288-298 ◽  
Author(s):  
Yue Ai ◽  
Bo Pan ◽  
Yili Fu ◽  
Shuguo Wang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Control Method ◽  
Animal Experiments ◽  
Robotic System ◽  
Robot Assisted ◽  
Content Type ◽  
Hand Eye Coordination ◽  
Control System Architecture

Purpose Robot-assisted system for minimally invasive surgery (MIS) has been attracting more and more attentions. Compared with a traditional MIS, the robot-assisted system for MIS is able to overcome or reduce defects, such as poor hand-eye coordination, heavy labour intensity and limited motion of the instrument. The purpose of this paper is to design a novel robotic system for MIS applications. Design/methodology/approach A robotic system with three separate slave arms for MIS has been designed. In the proposed robot, a new mechanism was designed as the remote centre motion (RCM) mechanism to restrain the movement of instrument or laparoscope around the incision. Moreover, an improved instrument without coupling motion between wrist and grippers was developed to enhance its manipulability. A control system architecture was also developed, and an intuitive control method was applied to realize hand-eye coordination of the operator. Findings For the RCM mechanism, the workspace was analyzed and the positioning accuracy of the remote centre point was tested. The results show that the RCM mechanism can be applied to MIS. Furthermore, the master-slave trajectory tracking experiments reveal that slave robots are able to follow the movement of the master manipulators well. Finally, the feasibility of the robot-assisted system for MIS is proved by performing animal experiments successfully. Originality/value This paper offers a novel robotic system for MIS. It can accomplish the anticipated results.

Introducing STRAS: A new flexible robotic system for minimally invasive surgery

2013 ◽  
Author(s):  
Antonio De Donno ◽  
Lucile Zorn ◽  
Philippe Zanne ◽  
Florent Nageotte ◽  
Michel de Mathelin
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic System

Can the Swenson, Duhamel, and Soave-Boley Procedures Be Applied in an Era of Minimally Invasive Surgery? The Results of an Experimental Study

2004 ◽  
Vol 8 (1) ◽  
pp. 51-58
Author(s):  
Evangelos Papandreou ◽  
Nikolaos Baltogiannis ◽  
Bruno Cigliano ◽  
Vasiliki Charissi ◽  
Apostolos Papalois ◽  
...  
Keyword(s):  
Experimental Study ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery
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