Visual detection and tracking algorithms for minimally invasive surgical instruments: A comprehensive review of the state-of-the-art

2021 ◽  
pp. 103945
Author(s):  
Yan Wang ◽  
Qiyuan Sun ◽  
Zhenzhong Liu ◽  
Lin Gu
Keyword(s):  
Minimally Invasive ◽  
Visual Detection ◽  
State Of The Art ◽  
The State ◽  
Surgical Instruments ◽  
Comprehensive Review ◽  
Minimally Invasive Surgical ◽  
Detection And Tracking ◽  
Tracking Algorithms

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Uniportal thoracoscopic right anterior basal (S8) segmentectomy using unidirectional dissection

2021 ◽  
Keyword(s):  
Minimally Invasive ◽  
Surgical Procedure ◽  
Lower Lobe ◽  
Lung Parenchyma ◽  
Surgical Instruments ◽  
Thoracoscopic Approach ◽  
Minimally Invasive Surgical Procedure ◽  
Small Incision ◽  
Minimally Invasive Surgical ◽  
The Right

Anterior basal (S8) segmentectomy is one of the most challenging procedures among the uncommon pulmonary segmentectomies because the surgeon has to identify dominant pulmonary vein branches located deep in the lung parenchyma. Moreover, with the uniportal thoracoscopic approach, the angulation of inserted surgical instruments via a single small incision is extremely limited, which causes technical difficulties. However, adoption of a suitable procedure such as unidirectional dissection enables us to perform this type of minimally invasive surgical procedure. We describe the successful results of a patient undergoing uniportal thoracoscopic S8 segmentectomy of the right lower lobe and explain the nuances of performing it.

Cylindrical Developable Mechanisms for Minimally Invasive Surgical Instruments

2019 ◽  
Author(s):  
Kenny Seymour ◽  
Jacob Sheffield ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Minimally Invasive ◽  
Potential Functions ◽  
Surgical Instruments ◽  
Curved Surfaces ◽  
Paper Properties ◽  
Minimally Invasive Surgical ◽  
Cylindrical Shaft ◽  
Surgical Devices ◽  
Kinematic Mechanisms

Abstract Developable mechanisms conform to and emerge from developable, or specially curved, surfaces. The cylindrical developable mechanism can have applications in many industries due to the popularity of cylindrical or tube-based devices. Laparoscopic surgical devices in particular are widely composed of instruments attached at the proximal end of a cylindrical shaft. In this paper, properties of cylindrical developable mechanisms are discussed, including their behaviors, characteristics, and potential functions. One method for designing cylindrical developable mechanisms is discussed. Two example developable surgical devices that exemplify these behaviors, characteristics, and functions, along with the kinematic mechanisms comprising them, are discussed in detail.

High temperature proton exchange membrane fuel cells: progress in advanced materials and key technologies

2021 ◽  
Author(s):  
Rizwan Haider ◽  
Yichan Wen ◽  
Zi-Feng Ma ◽  
David P. Wilkinson ◽  
Lei Zhang ◽  
...  
Keyword(s):  
Fuel Cells ◽  
High Temperature ◽  
Proton Exchange Membrane ◽  
State Of The Art ◽  
The State ◽  
Proton Exchange ◽  
Advanced Materials ◽  
Comprehensive Review ◽  
Key Technologies ◽  
Exchange Membrane

This comprehensive review gives a picture about the state-of-the-art progress of HT-PEMFCs, and the challenges, strategies and rules to design, evaluate and promote the performance of HT-PEMFCs.

Attaining high bending stiffness by full actuation in steerable minimally invasive surgical instruments

2014 ◽  
Vol 24 (2) ◽  
pp. 77-85 ◽  
Author(s):  
Filip Jelínek ◽  
Giada Gerboni ◽  
Paul W. J. Henselmans ◽  
Rob Pessers ◽  
Paul Breedveld
Keyword(s):  
Minimally Invasive ◽  
Bending Stiffness ◽  
Surgical Instruments ◽  
Minimally Invasive Surgical

scholarly journals Tactile Sensors for Minimally Invasive Surgery: A Review of the State-of-the-Art, Applications, and Perspectives

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 7682-7708 ◽  
Author(s):  
Naghmeh Bandari ◽  
Javad Dargahi ◽  
Muthukumaran Packirisamy
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
State Of The Art ◽  
The State ◽  
Tactile Sensors

Microrobotic laser steering for minimally invasive surgery

2021 ◽  
Vol 6 (50) ◽  
pp. eabd5476
Author(s):  
Peter A. York ◽  
Rut Peña ◽  
Daniel Kent ◽  
Robert J. Wood
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
High Speed ◽  
Large Range ◽  
State Of The Art ◽  
Fabrication Method ◽  
Modular Assembly ◽  
Surgical Tools ◽  
Minimally Invasive Surgical ◽  
Current State

The creation of multiarticulated mechanisms for use with minimally invasive surgical tools is difficult because of fabrication, assembly, and actuation challenges on the millimeter scale of these devices. Nevertheless, such mechanisms are desirable for granting surgeons greater precision and dexterity to manipulate and visualize tissue at the surgical site. Here, we describe the construction of a complex optoelectromechanical device that can be integrated with existing surgical tools to control the position of a fiber-delivered laser. By using modular assembly and a laminate fabrication method, we are able to create a smaller and higher-bandwidth device than the current state of the art while achieving a range of motion similar to existing tools. The device we present is 6 millimeters in diameter and 16 millimeters in length and is capable of focusing and steering a fiber-delivered laser beam at high speed (1.2-kilohertz bandwidth) over a large range (over ±10 degrees in both of two axes) with excellent static repeatability (200 micrometers).

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