Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery

2021 ◽  
pp. 014233122098435
Author(s):  
Wen Qi ◽  
Hang Su ◽  
Ke Fan ◽  
Ziyang Chen ◽  
Jiehao Li ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Data Fusion ◽  
Invasive Surgery ◽  
Robot Control ◽  
Surgical Robot ◽  
Robot Assisted ◽  
Multimodal Data ◽  
Multimodal Data Fusion ◽  
Fusion Framework

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification in a dynamic situation, we propose a multimodal data fusion framework to provide multiple information for accuracy enhancement. Firstly, a multi-sensors based hardware structure is designed to capture varied data from various devices, including depth camera and smartphone. Furthermore, in different surgical tasks, the robot control mechanism can shift automatically. The experimental results evaluate the efficiency of developing the multimodal framework for RAMIS by comparing it with a single sensor system. Implementing the KUKA LWR4+ in a surgical robot environment indicates that the surgical robot systems can work with medical staff in the future.

Analysis of Clinical Effect of Arthroscopic Minimally Invasive Surgery on Patients with Knee Joint Bone Trauma

2021 ◽  
Vol 7 (5) ◽  
pp. 1696-1700
Author(s):  
Ligang Chen ◽  
Hao Lin
Keyword(s):  
Minimally Invasive Surgery ◽  
Knee Joint ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Treatment Effect ◽  
Clinical Effect ◽  
Control Group ◽  
Observation Group ◽  
Bone Trauma ◽  
Joint Trauma

To study and analyze the clinical effect of arthroscopic minimally invasive surgery in the treatment of knee joint trauma. Methods: A total of 80 patients with knee joint bone trauma who were treated in our hospital from July 2018 to July 2019 were selected as the research objects, and randomly divided into observation group and control group. Patients in the control group were treated in the conventional way, patients in the observation group were treated with arthroscopic minimally invasive surgery, and the treatment effect, neer score and complications of the two groups were compared. Result: The treatment efficiency of the observation group was significantly higher than that of the control group (P < 0.05); the neer score of the observation group was significantly higher than that of the control group (P < 0.05); the number of complications in the observation group was significantly lower than that of the control group (P < 0.05), the difference was statistically significant. Conclusion: The application of arthroscopic minimally invasive surgery in the treatment of knee joint trauma patients has significant effect, improve the treatment effect, the number of patients with complications is lower, with higher safety, which is worth promoting in clinical treatment.

Modular design of a teleoperated robotic control system for laparoscopic minimally invasive surgery based on ROS and RT-Middleware

2017 ◽  
Vol 44 (5) ◽  
pp. 596-608 ◽  
Author(s):  
Weibang Bai ◽  
Qixin Cao ◽  
Pengfei Wang ◽  
Peng Chen ◽  
Chuntao Leng ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Control System ◽  
Minimally Invasive ◽  
Development Strategy ◽  
Invasive Surgery ◽  
Modular Design ◽  
Design Method ◽  
Robotic Systems ◽  
Effective Control ◽  
Content Type

Purpose Robotic systems for laparoscopic minimally invasive surgery (MIS) always end up with highly sophisticated mechanisms and control schemes – making it a long and hard development process with a steep price. This paper aims to propose and realize a new, efficient and convenient strategy for building effective control systems for surgical and even other complex robotic systems. Design/methodology/approach A novel method that takes advantage of the modularization concept by integrating two middleware technologies (robot operating system and robotic technology middleware) into a common architecture based on the strengths of both was designed and developed. Findings Tests of the developed control system showed very low time-delay between the master and slave sides; good movement representation on the slave manipulator; and high positional and operational accuracy. Moreover, the new development strategy trial came with much higher efficiency and lower costs. Research limitations/implications This method results in a modularized and distributed control system that is amenable to collaboratively develop; convenient to modify and update; componentized and easy to extend; mutually independent among subsystems; and practicable to be running and communicating across multiple operating systems. However, experiments show that surgical training and updates of the robotic system are still required to achieve better proficiency for completing complex minimally invasive surgical operations with the proposed and developed system. Originality/value This research proposed and developed a novel modularization design method and a novel architecture for building a distributed teleoperation control system for laparoscopic MIS.

An Earthworm-Like Microrobot for Colonoscopy

2006 ◽  
Vol 40 (6) ◽  
pp. 471-478 ◽  
Author(s):  
K. D. Wang ◽  
G. Z. Yan
Keyword(s):  
Minimally Invasive Surgery ◽  
Control System ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Viscoelastic Model ◽  
Research Topic ◽  
In Vitro Experiments ◽  
And Control ◽  
Acting Force

Abstract Miniature robotics for colonoscopy has become a hot research topic with the development of minimally invasive surgery (MIS). In this paper, a novel microrobot for colonoscopy that operates based on a simulation of the squirming motion of the earthworm is described. The robot uses a unique driving unit called a linear electromagnetic driver. The prototype measures 9.5 mm in diameter and 120 mm in length. It is driven by a linear direct current (DC) motor designed and manufactured by the authors. This paper describes the prototype, locomotion principle, and control system in detail. It then describes two models that were built to study the robot's ability to move in the viscoelastic colon environment. A slope model of motion was developed and some mathematical evaluations of locomotion conditions were conducted. Experiments to test the creeping ability of the prototype on a slope were performed to verify these expressions. From the viscoelastic model relative to acting force between the robot and the colon, a transcendent equation about locomotive efficiency of the critical squirm step was deduced and solved to instruct the design of the robot. Last, in vitro experiments in the fresh colon of a pig were performed. The results show that this kind of microrobot can propel itself freely and reliably in the soft viscoelastic colon. Finally, future areas of research are noted.

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