scholarly journals A sensorless force-feedback system for robot-assisted laparoscopic surgery

2019 ◽  
pp. 1-10 ◽  
Author(s):  
Baoliang Zhao ◽  
Carl A. Nelson
Keyword(s):  
Laparoscopic Surgery ◽  
Force Feedback ◽  
Feedback System ◽  
Robot Assisted

scholarly journals A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 640
Author(s):  
Linshuai Zhang ◽  
Shuoxin Gu ◽  
Shuxiang Guo ◽  
Takashi Tamiya
Keyword(s):  
Collision Detection ◽  
Endovascular Procedures ◽  
Force Feedback ◽  
Force Measurement ◽  
Occupational Hazards ◽  
Robot Assisted ◽  
X Ray ◽  
Surgical Safety ◽  
Surgical Tool ◽  
Haptic Cues

A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.

scholarly journals Robot-assisted laparoscopic surgery after placing a self-expanding metallic stent for malignant rectal obstruction: a case report

2019 ◽  
Vol 5 (1) ◽  
Author(s):  
Hiroshi Takeyama ◽  
Katsuki Danno ◽  
Takahiko Nishigaki ◽  
Masafumi Yamashita ◽  
Masami Yamazaki ◽  
...  
Keyword(s):  
Laparoscopic Surgery ◽  
Lower Abdominal Pain ◽  
Lower Limbs ◽  
Metallic Stent ◽  
Sems Placement ◽  
Robot Assisted ◽  
Colorectal Obstruction ◽  
First Report ◽  
Distended Bowel ◽  
Rectal Obstruction

Abstract Background Approximately 20% of colorectal cancer patients show complete or incomplete bowel obstruction as an early symptom. Preoperative nonsurgical decompression such as placing a self-expanding metallic stent for malignant colorectal obstruction has been shown to be effective for reducing perioperative morbidity and mortality. However, there is a lack of published studies reporting robot-assisted laparoscopic surgery (RALS) after self-expanding metallic stent (SEMS) placement for malignant rectal obstruction (MRO). To our knowledge, this is the first report to do so. Case presentation An 80-year-old man with incomplete paralysis of the lower limbs as well as bladder–rectal disorder due to a spine fracture sustained in a fall accident 26 years ago presented with lower abdominal pain and vomiting. Abdominal multi-detector computed tomography revealed an obstructive rectal tumor with distended bowel on the oral side. Emergency colonoscopy was performed, and an SEMS placed. The patency of SEMS and decompression of the distended bowel was confirmed, and elective RALS was performed 29 days after SEMS placement. To our knowledge, this is the first report of RALS after decompression with SEMS placement for MRO. Conclusions RALS after SEMS placement is a safe and feasible therapeutic strategy for MRO.

scholarly journals Development and Testing of a Methodology for the Assessment of Acceptability of LKA Systems

Machines ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 47 ◽  
Author(s):  
Luca Salvati ◽  
Matteo d’Amore ◽  
Anita Fiorentino ◽  
Arcangelo Pellegrino ◽  
Pasquale Sena ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Operating Conditions ◽  
Experimental Methodology ◽  
Driving Safety ◽  
Steering Wheel ◽  
Human In The Loop ◽  
Automation Systems ◽  
Driving Stability ◽  
Lane Keeping

In recent years, driving simulators have been widely used by automotive manufacturers and researchers in human-in-the-loop experiments, because they can reduce time and prototyping costs, and provide unlimited parametrization, more safety, and higher repeatability. Simulators play an important role in studies about driver behavior in operating conditions or with unstable vehicles. The aim of the research is to study the effects that the force feedback (f.f.b.), provided to steering wheel by a lane-keeping-assist (LKA) system, has on a driver’s response in simulators. The steering’s force feedback system is tested by reproducing the conditions of criticality of the LKA system in order to minimize the distance required to recover the driving stability as a function of set f.f.b. intensity and speed. The results, obtained in three specific criticality conditions, show that the behaviour of the LKA system, reproduced in the simulator, is not immediately understood by the driver and, sometimes, it is in opposition with the interventions performed by the driver to ensure driving safety. The results also compare the performance of the subjects, either overall and classified into subgroups, with reference to the perception of the LKA system, evaluated by means of a questionnaire. The proposed experimental methodology is to be regarded as a contribution for the integration of acceptance tests in the evaluation of automation systems.

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