Robotic Visible Forceps Manipulator With a Novel Linkage Bending Mechanism

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Boyu Zhang ◽  
Zhuxiu Liao ◽  
Penghui Yang ◽  
Hongen Liao
Keyword(s):  
Minimally Invasive Surgery ◽  
Mechanical Performance ◽  
Surgical Instruments ◽  
Robotic Systems ◽  
Flexible Manipulators ◽  
Surgical Operation ◽  
Single Function ◽  
Output Force ◽  
Bending Mechanism ◽  
High Output

In minimally invasive surgery (MIS), surgeons often suffer from occlusion region problems. It is difficult to solve these problems with traditional surgical instruments because of their size and rigid mechanical structure, such as endoscopes and corresponding operating tools. Thus, flexible manipulators and related robotic systems have been proposed for enhancing intraoperative inspection and surgical operation in MIS. Although a variety of flexible manipulators using different mechanisms have been developed, most of them are designed with a single function. In this paper, we present the concept of visible forceps that enriches the forceps function, which realizes the flexible bending capability and high output force, as well as the integrated endoscopic function. We developed a novel simplified linkage bending mechanism for forceps with a bendable tip and fabricated a robotic visible forceps manipulator system. According to this prototype, we performed experiments to evaluate the mechanical performance and the abdominal phantom test to evaluate the feasibility and usefulness. Preliminary results show that the forceps manipulator can realize both flexible bending capability and high output force, which implies promising applications in future MIS.

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.

Linear Thermomechanical Microactuators

1999 ◽  
Author(s):  
Rebecca Cragun ◽  
Larry L. Howell
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Thermal Expansion ◽  
Cross Sections ◽  
Variable Cross ◽  
Element Analysis ◽  
Thermal Actuators ◽  
Output Force ◽  
Analysis Models ◽  
High Output

Abstract Thermomechanical in-plane microactuators (TIMs) have been designed, modeled, fabricated, and tested. TIMs offer an alternative to arrays of smaller thermal actuators to obtain high output forces. The design is easily modified to obtain the desired output force or deflection for specific applications. The operational principle is based on the symmetrical thermal expansion of variable cross sections of the surface micromachined microdevice. Sixteen configurations of TIMs were fabricated of polysilicon. Finite element analysis models were used to predict the deflection and output force for the actuators. Experimental results were also recorded for all sixteen configurations, including deflections and output forces up to 20 micron and 35 dyne.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

Minimally Invasive Surgery: Equipment and Troubleshooting

2019 ◽  
Author(s):  
Jacob A. Greenberg ◽  
Laura E. Fischer
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Surgical Instruments ◽  
Single Site ◽  
Processing Unit ◽  
Solid Organ ◽  
Video Monitor ◽  
Energy Devices ◽  
Basic Set

The field of minimally invasive surgery has evolved rapidly since the first laparoscopic appendectomies and cholecystectomies were performed nearly 30 years ago.1 Minimally invasive approaches are now widely used for gastrointestinal resection, hernia repair, antireflux surgery, bariatric surgery, and solid-organ surgery, such as hepatic, pancreatic, adrenal, and renal resections. Although the techniques and equipment needed to access, expose, and dissect vary according to the type of operation and surgeon’s preference, a basic set of equipment is essential for any laparoscopic or robotic procedure: endoscope, camera, light source, signal processing unit, video monitor, insufflator and gas supply, trocars, and surgical instruments. Understanding how to use and troubleshoot this equipment is critical for any surgeon who performs minimally invasive surgery. We review the essentials of basic laparoscopic equipment, including the mechanics of normally functioning equipment and the various types of laparoscopic trocars and instruments. We also discuss robotic equipment and the fundamental differences from laparoscopy. Minilaparoscopy and single-site equipment are briefly explained. Additionally, we discuss potential technical difficulties that surgeons may encounter while performing minimally invasive procedures and provide suggestions for troubleshooting these problems. This review 13 figure, 2 tables, and 64 references.Key Words: Laparoscopy, Robotic Surgery, Minimally Invasive Surgery, Laparoscopic Surgery, Trocars, Surgical Energy Devices, Insufflator, Laparoscopic Instrumentation, Ergonomics, Single Site Surgery

The Characteristics of Variable Speed Inchworm Stage Using Lever Mechanism by Different Materials

2008 ◽  
Vol 8 (11) ◽  
pp. 5696-5701 ◽  
Author(s):  
Yong Woo Kim ◽  
Soo Chang Choi ◽  
Jeong Woo Park ◽  
Yoong Ho Jung ◽  
Deug Woo Lee
Keyword(s):  
Dynamic Range ◽  
Input Voltage ◽  
Variable Speed ◽  
Output Displacement ◽  
Output Force ◽  
Ultra Precision ◽  
Lever Mechanism ◽  
Feeding Speed ◽  
Performance Results ◽  
High Output

Currently, piezoelectric actuators which have attractive features such as high output force, high positioning resolution, high stiffness and quick response have been used in many ultra precision stages. But their positioning ranges are very small. This very limited displacement severely restricts the actuator's immediate implementation for long-range positioning. This paper shows a variable speed inchworm type stage with hinge structures as lever mechanism for nanometer resolution with large dynamic range and studies on characteristics of it. The inchworm stage has hinge structure levers which can shift their pivot position. And it can amplify/reduce output displacement using mechanical advantage with a lever. Especially we suggest guide-line of design according this work that was performed using different materials of stages (Aluminium and Stainless Steel). As the results of simulations, the larger lever ratio is, the smaller stiffness of lever portion is. As the results of experiments, when we input voltage into the inchworm stage, output displacement of each lever is different according to material. Hysteresis of stage could also present that grow according as lever rate rises and stiffness of material. In the case of feeding speed, Aluminium with less hardness showed excellent responsiveness, hence excellent feed performance results.

scholarly journals Concept of application of the light-weight robot Robin Heart (“Pelikan”) in veterinary medicine: a feasibility study

2017 ◽  
Vol 73 (2) ◽  
pp. 88-91 ◽  
Author(s):  
Krzysztof Lis ◽  
Krzysztof Lehrich ◽  
Łukasz Mucha ◽  
Zbigniew Nawrat
Keyword(s):  
Veterinary Medicine ◽  
Minimally Invasive Surgery ◽  
Laparoscopic Surgery ◽  
Animal Experiments ◽  
Surgical Instruments ◽  
Light Weight ◽  
Review Of Literature ◽  
Medical Robots ◽  
Position And Orientation ◽  
Special Instrumentation

Currently, there is a great interest in the use of minimally invasive surgery methods. Such surgeries require special instrumentation. Doctors increasingly use medical robots that replace assistants responsible for setting the position and orientation of the endoscope (vision), as well as make it possible to control surgical instruments. One of very promising fields of expansion of this technology is veterinary medicine. This article presents a review of literature on animal laparoscopic surgery with the use of medical robots. Particular attention was paid to animal experiments involving the Robin Heart family robots. Moreover, the article presents the construction and principle of operation of the smallest manipulator of the Robin Heart family, as well as describes preliminary simulations of surgery with the use of this robot. In the conclusion, possible directions for further improvement and implementation of the Robin Heart robot have been formulated.

Design Factors Influencing Power Reduction in Thermomechanical In-Plane Microactuators

2007 ◽  
Author(s):  
John N. Harb ◽  
Scott M. Lyon ◽  
Jenny Larsen ◽  
Larry L. Howell ◽  
Timothy W. McLain
Keyword(s):  
Steady State ◽  
Input Voltage ◽  
Input Power ◽  
Power Reduction ◽  
Heat Losses ◽  
Efficient Design ◽  
Environment Change ◽  
Output Force ◽  
Design Factors ◽  
High Output

The TIM (Thermomechanical In-plane Microactuator) is a thermal actuator that offers a high output force at a low input voltage, in a design that can be easily modified to match force and displacement requirements of various applications. The purpose of this paper is to examine factors that affect the steady-state power requirements of a TIM. Reducing the power requirements of the TIM is critical for its use in some systems such as autonomous microsystems. The influence of several geometric modifications and one environment change on energy loss and actuator efficiency was investigated. The steady-state deflection of five different TIM designs was measured for various levels of input power in both air and vacuum. The extent of the power reduction for the most efficient design in air varied with deflection from about 40 percent at 4 μm deflection to 20 percent at a deflection of 8 μm. The most significant reduction in power was observed for devices tested under vacuum where conduction from the legs through the air to the substrate was minimal due to reduced heat losses at the low pressure.

Development of a Hydraulically-Driven Flexible Manipulator for Neurosurgery

2005 ◽  
Vol 17 (2) ◽  
pp. 149-157 ◽  
Author(s):  
Haruna Okayasu ◽  
◽  
Jun Okamoto ◽  
Hiroshi Iseki ◽  
Masakatsu G. Fujie ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Medical Engineering ◽  
Physiological Saline ◽  
Surgical Instruments ◽  
Flexible Manipulator ◽  
Affected Area ◽  
Key Word ◽  
New Type ◽  
The Brain

Minimally invasive surgery has recently become a key word in medical engineering. In this operation, to facilitate the introduction of surgical instruments, spatulas which push tissues aside and retain the approach path to the affected area as well as workspace for the insertion of such instruments are necessary. Therefore, a new type of hydraulically-driven flexible manipulator for neurosurgery has been developed. Including an attached balloon and using only physiological saline for the drive system, the safety of the brain tissue, especially in terms of pressure, is assured as is the simplicity of the mechanism. In addition, this provides the advantage of MRI compatibility. Following several positive evaluations, the effectiveness of this manipulator has been proven as a new type of medical device.

007 Development of Large Deformation and High Output Force Type Active Laminate

2006 ◽  
Vol 2006.14 (0) ◽  
pp. 25-26
Author(s):  
Hiroshi ASANUMA ◽  
Toshiyuki NAKATA ◽  
Toshiaki TANAKA ◽  
Osamu HAGA
Keyword(s):  
Large Deformation ◽  
Output Force ◽  
High Output
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