scholarly journals Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

2015 ◽  
Vol 7 (1) ◽  
Author(s):  
Tao Shen ◽  
Carl A. Nelson ◽  
Kevin Warburton ◽  
Dmitry Oleynikov
Keyword(s):  
Endoscopic Surgery ◽  
Robotic Manipulator ◽  
Experimental Results ◽  
Force Transmission ◽  
Natural Orifice ◽  
Drive Mechanism ◽  
Dc Motors ◽  
Preliminary Validation ◽  
Complex Shapes

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

2014 ◽  
Author(s):  
Tao Shen ◽  
Kevin Warburton ◽  
Carl A. Nelson ◽  
Dmitry Oleynikov
Keyword(s):  
Endoscopic Surgery ◽  
Robotic Manipulator ◽  
Experimental Results ◽  
Force Transmission ◽  
Natural Orifice ◽  
Drive Mechanism ◽  
Dc Motors ◽  
Preliminary Validation

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including an articulated snake-like linkage, motor housing and an arm connector. The ADM contains two independent curvature sections which can articulate into complex S shapes for improved access to surgical targets. A connector between the bimanual arms and the ADM provides an efficient and convenient way to assemble and disassemble the system as necessary for insertion and removal of the robot. Four DC motors guide four pairs of cables with linear actuation to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

Natural orifice transluminal endoscopic surgery (NOTES): initial experimental results

2009 ◽  
Vol 85 (5) ◽  
pp. 298-306
Author(s):  
Jorge Juan Olsina Kissler ◽  
Joaquín Balsells Valls ◽  
Juan Dot Bach ◽  
Monder Abu Suboh Abadia ◽  
Jordi Armengol Bertroli ◽  
...  
Keyword(s):  
Endoscopic Surgery ◽  
Experimental Results ◽  
Natural Orifice

Articulated Manipulator With Multiple Instruments for Natural Orifice Transluminal Endoscopic Surgery

2013 ◽  
Vol 7 (4) ◽  
Author(s):  
Chi Min Seow ◽  
Wei Jian Chin ◽  
Carl A. Nelson ◽  
Akiko Nakamura ◽  
Shane M. Farritor ◽  
...  
Keyword(s):  
Endoscopic Surgery ◽  
Natural Orifice ◽  
Drive Mechanism ◽  
Surgical Workflow ◽  
Solo Surgery ◽  
Control Console ◽  
System Input ◽  
Grasping Force ◽  
Receive System ◽  
Actuation Systems

This paper presents an articulated manipulator with multiple instruments for natural orifice endoscopic transluminal endoscopic surgery (NOTES). This robotic system is made up of four major components, namely a multifunctional manipulator, a robot-connecting arm, an articulated drive mechanism, and a surgeon control console. The manipulator, capable of changing instruments in situ at the surgical site, was developed to reduce infection risk, improve surgical workflow, and encourage solo surgery by providing surgeons with all the required instruments. The robot-connecting arm serves as an experimental platform for future bimanual robot configurations. To facilitate stable positioning and optimal orientation of the robot, the articulated drive mechanism was also created. The surgeon control console provides a user-friendly platform to receive system input from surgeons. Benchtop testing showed adequate articulation and tool-tip forces for accomplishment of typical tasks in abdominal surgery. This system leverages the benefits both of cable-wire actuation systems and of direct motor embedding on different components to achieve better tool triangulation, higher instrument grasping force, and improved positioning at the surgical site.

scholarly journals Articulated Mechanism Design and Kinematics for Natural Orifice Translumenal Endoscopic Surgery Robot

2011 ◽  
Author(s):  
Wei Jian Chin ◽  
Carl A. Nelson ◽  
Chi Min Seow
Keyword(s):  
Endoscopic Surgery ◽  
Surgical Instruments ◽  
Engineering Analysis ◽  
Natural Orifice ◽  
End Effector ◽  
Drive Mechanism ◽  
Control Console ◽  
Steering Mechanism ◽  
Technological Barriers ◽  
External Incisions

Natural orifice translumenal endoscopic surgery (NOTES) has reduced the invasiveness of surgery by eliminating external incisions on the patient. With this type of procedure, recovery time is drastically shortened, cosmetics are improved, and infections and pain are greatly reduced. For NOTES procedures to be successfully performed, a flexible endoscope or similar instrument is important for passing orifice flexures. However, technological deficiencies like poor angulations of surgical instruments introduced through working channels in flexible endoscopes, the lack of scope fixation, and lack of scope stiffening are technological barriers which prevent NOTES from being widely accepted in human surgeries. A novel multifunctional robot with an articulated drive mechanism for NOTES has been developed. The steerable articulating drive mechanism is connected to the robotic end effector to guide the robot and navigate through a natural orifice. The design process for the articulating drive mechanism and engineering analysis are discussed in this paper. Workspace of the drive mechanism with and without a translational insertion degree of freedom is presented in detail. The kinematics of the drive mechanism is also discussed. Additionally, friction in the spherical joints of the drive mechanism is explored to characterize its influence on the overall shape achieved by the articulation, including the effects of varying the total length in the steering mechanism. The surgeon control console for the drive mechanism is briefly discussed as well. Bench-top testing results are presented as proof of feasibility of the design.

Design and Evaluation of a Novel Rotatable One-Element Snake Bone for NOTES

2018 ◽  
Vol 12 (2) ◽  
Author(s):  
Bin Liu ◽  
Aoyu Zhang ◽  
John Liu ◽  
Zhimin Han ◽  
Tianyu Xie
Keyword(s):  
Endoscopic Surgery ◽  
Screw Theory ◽  
Motion Sensors ◽  
Natural Orifice ◽  
Angle Error ◽  
Bending Angle ◽  
Rotational Angle ◽  
Dc Motors ◽  
Movement Mechanism ◽  
The Relationship

The distal head of the natural orifice transluminal endoscopic surgery (NOTES) platform commonly uses the structure of a snake bone, which cannot rotate, and the manufacturing is often time-consuming. A novel rotatable, one-element snake bone for NOTES is proposed. This paper first describes the movement mechanism and actuation. The new structure, which is composed of hinge pairs for bending and track-sled rings for rotation, was designed to reach a 90 deg bending angle and 62 deg rotational angle. The workspace of the snake bone was derived using screw theory and was simulated on matlab. The relationship between the angle and wire displacement was analyzed in detail. The new snake bone system bent and rotated by manipulating control wires that were actuated by DC motors, and its angular movements were measured by motion sensors with an angle error within ±2.6 deg. The snake bone was mounted on a flexible tube, inserted into a colonoscopy model, and navigated by motor actuation to eventually reach the cecum. The experimental results demonstrate the new snake bone's ability to travel through a natural orifice by rotating and bending, which satisfies the mobility requirement for NOTES.

Robotic Manipulator for Natural Orifice Transluminal Endoscopic Surgery

2007 ◽  
Vol 65 (5) ◽  
pp. AB110 ◽  
Author(s):  
Khek-Yu Ho ◽  
Soo Jay Louis Phee ◽  
Bok Yan Jimmy SO ◽  
Sheung Chee Sydney Chung
Keyword(s):  
Endoscopic Surgery ◽  
Robotic Manipulator ◽  
Natural Orifice

Robot Kinematic Design Studies for Natural Orifice Surgery

2011 ◽  
Author(s):  
Chi Min Seow ◽  
Wei Jian Chin ◽  
Carl A. Nelson
Keyword(s):  
Literature Review ◽  
Degrees Of Freedom ◽  
Robotic Manipulator ◽  
Natural Orifice Surgery ◽  
Natural Orifice ◽  
Surgical Robots ◽  
Design Studies ◽  
Surgical Interventions ◽  
Drive Mechanism ◽  
Kinematic Design

This paper presents kinematic aspects of a multifunctional robotic manipulator for use in natural orifice surgery. A literature review of some existing surgical robots is presented. The robot folding configurations for insertion/removal are described. The kinematics and workspace of the robotic manipulator and their application in a space-constrained environment are explored as well. The main goal is to find out the best way to fully utilize limited degrees of freedom in the robot arms local to the surgical site as well as additional motions provided by the hyper-redundant, underactuated articulated drive mechanism, in order to provide the dexterity and workspace required for typical surgical interventions.

scholarly journals Natural Orifice Translumenal Endoscopic Surgery for Anterior Spinal Procedures

2012 ◽  
Vol 2012 ◽  
pp. 1-6 ◽  
Author(s):  
Priscilla Magno ◽  
Mouen A. Khashab ◽  
Manuel Mas ◽  
Samuel A. Giday ◽  
Jonathan M. Buscaglia ◽  
...  
Keyword(s):  
Thoracic Spine ◽  
Endoscopic Surgery ◽  
Vertebral Column ◽  
Bone Biopsy ◽  
Posterior Mediastinum ◽  
Direct Access ◽  
Thoracic Vertebrae ◽  
Natural Orifice ◽  
Vertebral Bone ◽  
Vertebral Bodies

Background. NOTES techniques allow transesophageal access to the mediastinum. The aim of this study was to assess the feasibility of transesophageal biopsy of thoracic vertebrae.Methods. Nonsurvival experiments on four 50-kg porcine animals were performed. Transesophageal access to the mediastinum was attained using submucosal tunneling technique.Results. The posterior mediastinum was successfully accessed and navigated in all animals. Vertebral bodies and intervertebral spaces were easily approached while avoiding damage to adjacent vessels. Bone biopsy was successfully performed without complications, but the hardness of bone tissue resulted in small and fragmented samples.Conclusions. Peroral transesophageal access into the posterior mediastinum and thoracic vertebral bone biopsy was feasible and safe. The proximity of the esophagus to the vertebral column provides close and direct access to the thoracic spine and opens up new ground for the performance of multilevel anterior spine procedures using NOTES techniques.

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