Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery

Robotica ◽  
2012 ◽  
Vol 30 (7) ◽  
pp. 1095-1107 ◽  
Author(s):  
Doina Pisla ◽  
Bogdan Gherman ◽  
Calin Vaida ◽  
Nicolae Plitea
Keyword(s):  
Laparoscopic Surgery ◽  
Experimental Model ◽  
Parallel Architecture ◽  
Parallel Robot ◽  
Operating Rooms ◽  
Degree Of Freedom ◽  
Robotic Assisted ◽  
Robotic Assisted Surgery ◽  
Kinematic Modelling ◽  
Simulation Results

SUMMARYRobotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following the analysis of singularities, the best variant is chosen. The robot workspace is computed and finally the experimental model and some simulation results are presented.

scholarly journals Improved perioperative outcomes and reduced inflammatory stress response in malignant robotic-assisted colorectal resections: a retrospective cohort study of 298 patients

2021 ◽  
Author(s):  
Pedja Cuk ◽  
Randi Maria Simonsen ◽  
Mirjana Komljen ◽  
Michael Festersen Nielsen ◽  
Per Helligsø ◽  
...  
Keyword(s):  
Colorectal Cancer ◽  
Laparoscopic Surgery ◽  
Stress Response ◽  
Retrospective Cohort ◽  
Interquartile Range ◽  
Short Term ◽  
Inflammatory Stress ◽  
Robotic Assisted ◽  
Robotic Assisted Surgery ◽  
Colorectal Resections

Abstract Background Robotic-assisted surgery is increasingly implemented for the resection of colorectal cancer, although the scientific evidence for adopting this technique is still limited. This study's main objective was to compare short-term complications, oncological outcomes, and the inflammatory stress response after colorectal resection for cancer performed laparoscopic or robotic-assisted. Methods We conducted a retrospective cohort study comparing the robotic-assisted approach to laparoscopic surgery for elective malignant colorectal neoplasm. Certified colorectal and da Vinci ® robotic surgeons performed resections at a Danish tertiary colorectal high volume centre from May 2017 – March 2019. We analyzed the two surgical groups using uni- and multivariate regression analyses to detect differences in intra- and postoperative clinical outcomes and the inflammatory stress response. Results Two hundred and ninety-eight patients were enrolled in the study. Significant differences favoring robotic-assisted surgery was demonstrated for; length of hospital stay (4 days, interquartile range (4–5) versus 5 days, interquartile range (4–7), p < 0.001) and intraoperative blood loss (50 mL, interquartile range (20–100) versus 100 mL, interquartile range (50–150), p < 0.001) compared to laparoscopic surgery. The inflammatory stress response was significantly higher after laparoscopic compared to robotic-assisted surgery reflected by an increase in C-reactive protein concentration (exponentiated coefficient = 1.20, 95% confidence interval (1.04–1.40), p < 0.001). No differences between the two groups were found concerning mortality, microradical resection rate, conversion to open surgery and surgical or medical short-term complications. Conclusion Robotic-assisted surgery is feasible and can be safely implemented for colorectal resections. The robotic-assisted approach, when compared to laparoscopic surgery, was associated with improved intra- and postoperative outcomes. Extensive prospective studies are needed to determine the short and long-term outcomes of robotic surgery for colorectal cancer.

A Novel 3-DOF Parallel Robot and its Kinematic Analysis

2014 ◽  
Vol 607 ◽  
pp. 759-763
Author(s):  
Xiao Bo Liu ◽  
Xiao Dong Yuan ◽  
Xiao Feng Wei ◽  
Wei Ni
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
The Novel ◽  
Forward Displacement ◽  
Simulation Based ◽  
Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

scholarly journals Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for RoboticAssisted Surgery

2019 ◽  
Vol 8 (2) ◽  
pp. 5002-5007
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Robust Performance ◽  
Medical Field ◽  
Robotic Assisted ◽  
Precise Control ◽  
Robotic Assisted Surgery ◽  
Simulation Results ◽  
Control Methodology

Robotic-assisted surgery (RAS) is a mode of technical advancement in the medical field that utilizes robotic articulation to aid surgeries. The fine-motion and precise control of robotic manipulator is prerequisite in surgical applications. In this paper, the improved control methodology for controlling the 3DOF (degree of freedom) robotic manipulator’s motion named as smoothing fractional order proportional integral derivativesliding mode control (FOPID-SMC) for the attainment of finest results by eliminating the perturbations has been showcased. The performance of smoothing FOPID-SMC controller in robotic manipulator is compared with the conventional SMC controllers. The simulation results prominently illustrate the efficacy of the proposed methodology, and superior tracking and robust performance with alleviated chattering compared to the classical methodologies.

scholarly journals Robotic-assisted surgery for low rectal cancer: Initial experiences from 15 consecutive cases at Cho Ray Hospital

2019 ◽  
Vol 9 (4) ◽  
Author(s):  
Viet Trung Lam ◽  
Keyword(s):  
Rectal Cancer ◽  
Laparoscopic Surgery ◽  
Range Of Motion ◽  
Laparoscopic Resection ◽  
Low Rectal Cancer ◽  
Safe Procedure ◽  
Conventional Laparoscopic Surgery ◽  
Robotic Assisted ◽  
Conventional Laparoscopic ◽  
Robotic Assisted Surgery

Abstract Introduction: Conventional laparoscopic surgery for low rectal cancer has several challenges regarding the technique issues such as a limited range of motion instruments. With the advantages, Robotic-assisted surgery has resolved this problems compared with the conventional laparoscopic surgery because it’s dexterity could improve the range of motion instruments. To evaluate the short-term and early oncological outcomes of robotic-assisted surgery for low rectal cancer. Material and Methods: Prospective study to describe one consecutive series of robotic-assisted laparoscopic resection for low rectal cancer at Department of Digestive Surgery of Cho Ray hospital. Results: Between October 2017 and June 2018, robotic-assisted laparoscopic resection with total mesorectal excision has performed on 15 consecutive patients with rectal cancer at Cho Ray hospital. The mean age was 50. Male/ female ratio was 2.75/1. The types of procedures performed were: 13 low anterior resections (LAR), 1 intersphincteric resection with coloanal anastomosis, and 1 abdominoperineal resection (APR). The overall mean operation time was 240 minutes. None of the cases was converted to open procedure. Mean harvested lymph nodes were 12. There was no surgical morbidity or mortality. On the postoperative day 1 and 2, mean visual analog scale (VAS) scores were 3.5. Mean postoperative hospital stay was 7.5 days. Conclusion: Robotic-assisted laparoscopic resection for low rectal cancer is a feasible and safe procedure with acceptable oncological results.

scholarly journals Kinematic Modelling of a Panel Enclosed Mechanism

2021 ◽  
Author(s):  
Aaron Yu
Keyword(s):  
Parallel Robot ◽  
Detection Algorithm ◽  
Degree Of Freedom ◽  
Robot Kinematics ◽  
Kinematic Modeling ◽  
Modeling And Analysis ◽  
Additional Degree ◽  
Kinematic Modelling ◽  
Six Degree Of Freedom ◽  
Variable Geometry Truss

This thesis presents a new method for kinematic modeling and analysis of a six degree-of-freedom parallel robot enclosed by a number of sliding panels, called panel enclosed mechanism. This type of robots has been seen in applications where mechanisms are covered by changeable surfaces, such as aircraft morphing wings made of variable geometry truss manipulators. Based on the traditional parallel robot kinematics, the proposed method is developed to model the motions of a multiple segmented telescopic rigid panels that are attached to the moving branches of the mechanism. Through this modeling and analysis, a collision detection algorithm is proposed to analyze the collisions that could occur between adjacent sliding panels during motion over the workspace of the mechanism. This algorithm will help to design a set of permissible panels used to enclose the mechanism free of collision. A number of cases are simulated to show the effectiveness of the proposed method. In addition, an extra link is added to provide an additional degree-of-freedom. Various search methods are employed to evaluate optimal orientation angles to minimize collisions of adjacent panels. Finally, the effect of increased mobility is analyzed and validated as a potential solution to reduce panel collisions.

scholarly journals Comparison between robotic-assisted and laparoscopic sphincter-preserving operations for ultra-low rectal cancer: a single institutional retrospective study

2021 ◽  
Author(s):  
Tadahiro Kojima ◽  
Hitoshi Hino ◽  
Akio Shiomi ◽  
Hiroyasu Kagawa ◽  
Yusuke Yamaoka ◽  
...  
Keyword(s):  
Rectal Cancer ◽  
Laparoscopic Surgery ◽  
Anterior Resection ◽  
Low Anterior Resection ◽  
Multivariate Analyses ◽  
Anal Verge ◽  
Intersphincteric Resection ◽  
Low Rectal Cancer ◽  
Robotic Assisted ◽  
Robotic Assisted Surgery

Abstract Background Sphincter-preserving operations for ultra-low rectal cancer include low anterior resection and intersphincteric resection. In low anterior resection, the distal rectum is divided by a transabdominal approach, which is technically demanding. In intersphincteric resection, a perineal approach is performed. We aimed to evaluate whether robotic-assisted surgery is technically superior to laparoscopic surgery for ultra-low rectal cancer. The frequency of conducting low anterior resection by a specific procedure can indicate the technical superiority of that procedure for ultra-low rectal cancer. Thus, we compared the frequency of low anterior resection between robotic-assisted and laparoscopic surgery in cases of sphincter-preserving operations. Methods We investigated 183 patients who underwent sphincter-preserving robotic-assisted or laparoscopic surgery for ultra-low rectal cancer (lower border within 5 cm of the anal verge) between April 2010 and March 2020. The frequency of low anterior resection was compared between laparoscopic and robotic-assisted surgeries. The clinicopathological factors associated with an increase in performing low anterior resection were analyzed by multivariate analyses. Results Overall, 41 (22.4%) and 142 (77.6%) patients underwent laparoscopic and robotic-assisted surgery, respectively. Patient characteristics were similar between the groups. Low anterior resection was performed significantly more frequently in robotic-assisted surgery (67.6%) than in laparoscopic surgery (48.8%) (p = 0.04). Multivariate analyses showed that tumor distance from the anal verge (p < 0.01) and robotic-assisted surgery (p = 0.02) were significantly associated with an increase in the performance of low anterior resection. The rate of postoperative complications or pathological results was similar between the groups. Conclusions Compared with laparoscopic surgery, robotic-assisted surgery significantly increased the frequency of low anterior resection in sphincter-preserving operations for ultra-low rectal cancer. Robotic-assisted surgery has technical superiority over laparoscopic surgery for ultra-low rectal cancer treatment.

Kinematic Modelling of a New 5-DOF (Axis) Parallel Robot Used in Brachytherapy

2015 ◽  
Vol 762 ◽  
pp. 131-136
Author(s):  
Bogdan Gherman ◽  
Nicolae Plitea ◽  
Calin Vaida ◽  
Doina Pislă
Keyword(s):  
Parallel Robot ◽  
The Body ◽  
Structural Synthesis ◽  
Medical Robot ◽  
Axis Parallel ◽  
Kinematic Modelling ◽  
Radioactive Seeds ◽  
Simulation Results ◽  
Needle Trajectory ◽  
Higher Doses

The paper presents a new medical parallel robot for brachytherapy. Brachytherapy (BT) is a relatively new and efficient medical technique for cancer treatment that enables to deliver higher doses of radiation to more-specific areas of the body, compared to the conventional form of radiation therapy that projects radiation from a machine outside the body. BT implies the implant of radioactive seeds inside the tumor, through specific needles, thus affecting only the tumor while avoiding unnecessary irradiation of the healthy tissue. Compared to the most of the brachytherapy designed only for treating the prostate, the medical robot presented in the paper is designed for hard-to-reach areas (such as the retroperitoneal area or the mediastinum). An approach regarding the robot structural synthesis, kinematics is presented followed by some simulation results obtained for a specific BT needle trajectory.

A comparative cost analysis of robotic-assisted surgery versus laparoscopic surgery and open surgery: the necessity of investing knowledgeably

2016 ◽  
Vol 30 (11) ◽  
pp. 5044-5051 ◽  
Author(s):  
Giorgia Tedesco ◽  
Francesco C. Faggiano ◽  
Erica Leo ◽  
Pietro Derrico ◽  
Matteo Ritrovato
Keyword(s):  
Laparoscopic Surgery ◽  
Cost Analysis ◽  
Open Surgery ◽  
Robotic Assisted ◽  
Comparative Cost ◽  
Robotic Assisted Surgery

Path planning of the hybrid parallel robot for ankle rehabilitation

Robotica ◽  
2014 ◽  
Vol 34 (1) ◽  
pp. 173-184 ◽  
Author(s):  
Hamid Rakhodaei ◽  
Mozafar Saadat ◽  
Alireza Rastegarpanah ◽  
Che Zulkhairi Abdullah
Keyword(s):  
Theoretical Analysis ◽  
Path Planning ◽  
Dynamic Analysis ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
End Effector ◽  
Ankle Rehabilitation ◽  
Series Of Experiments ◽  
Linear Actuators ◽  
Simulation Results

SUMMARYThis paper presents a new configuration for ankle rehabilitation using a 9-DOF (degree of freedom) hybrid parallel robot. The robot contains nine linear actuators serially connecting two movable platforms and one stationary platform. The optimization is based on the singularity and dynamic analysis of the robot. The obtained data of the ankle motions from a series of experiments were applied to the model in order to investigate the motion of the end-effector and the force required for each actuator in a particular path. The end-effector tracking simulation results validated the proposed theoretical analysis of the required rehabilitation path of the foot.

Sign in / Sign up

Export Citation Format

Share Document