scholarly journals Automation of Suturing Path Generation for da Vinci-Like Surgical Robotic Systems

2018 ◽  
Author(s):  
Hossein Dehghani ◽  
Shane Farritor ◽  
Dmitry Oleynikov ◽  
Benjamin Terry
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Da Vinci ◽  
Robotic Arms ◽  
Patient Pain ◽  
Motion Scaling ◽  
Hand Coordination ◽  
Patient Side ◽  
Tissue Trauma

Minimally invasive surgery (MIS) has substantially improved surgery by reducing patient pain, discomfort, and tissue trauma [1]. MIS, however, has shortcomings including limited workspace, reduced surgeon’s dexterity, and poor eye-hand coordination [2]. Robot-assisted minimally invasive surgery (RMIS) has aimed to mitigate these limitations [3]. The da Vinci® Surgical System (Intuitive Surgical, Inc., Sunnyvale, CA) is the-state-of-the-art RMIS, in which the surgeon operates by using the console’s master controllers to maneuver the patient-side robotic arms, where the surgeon’s hand movements are refined through motion scaling and tremor reduction. Over half a million procedures are performed using the da Vinci annually [4].

Design of a Universal Laparoscopic Suturing Device

2011 ◽  
Author(s):  
Sinan Onal ◽  
Susana Lai-Yuen ◽  
Stuart Hart
Keyword(s):  
Minimally Invasive Surgery ◽  
Laparoscopic Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Recovery Time ◽  
Laparoscopic Suturing ◽  
Surgical Tools ◽  
Working Space ◽  
Operative Recovery ◽  
Tissue Trauma

Minimally invasive surgery (MIS) or laparoscopic surgery has changed the focus of surgery and has become an alternative to open surgical procedures. Operations are performed through small incisions in the abdomen thus avoiding the need for large incisions. This results in less tissue trauma, less scarring, and faster post-operative recovery time. However, the inherent challenges of laparoscopic procedures include limited visibility, constrained working space and the need for advanced surgical tools to safely and efficiently perform the surgical procedure. It is also necessary for surgeons to obtain advanced surgical training to perform these procedures.

Recent advances in the CoBRASurge robotic manipulator and dexterous miniature in vivo robotics for minimally invasive surgery

2010 ◽  
Vol 224 (7) ◽  
pp. 1487-1494 ◽  
Author(s):  
A C Lehman ◽  
M M Tiwari ◽  
B C Shah ◽  
S M Farritor ◽  
C A Nelson ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Peritoneal Cavity ◽  
Invasive Surgery ◽  
Da Vinci ◽  
Miniature Robots ◽  
Tissue Manipulation ◽  
External Incisions ◽  
Single Insertion

Minimally invasive surgery (MIS) reduces trauma and improves patient recovery. Traditional laparoscopic procedures are performed using multiple long, thin tools that are inserted through small incisions in the abdominal wall. The advantages of these procedures are often restricted to less complicated procedures owing to imaging and tissue manipulation limitations. These limitations can be overcome using advanced surgical systems, such as da Vinci®, that provide the surgeon with enhanced visualization and improved tool dexterity. However, the da Vinci system is expensive and occupies significant space in the operating room. The compact bevel-geared robot for advanced surgery, CoBRASurge, is a compact robotic system that addresses the space and expense limitations of large external robotic systems. This system provides a stable platform for laparoscopic tool manoeuvring, while also allowing the surgical team improved access to the patient. New methods for performing MIS, including single incision and natural orifice access, are also being developed to further minimize invasiveness through reducing or eliminating external incisions. However, the instruments for these procedures are further limited by accessing the peritoneal cavity through a single insertion point. Dexterous miniature robots that are completely inserted into the peritoneal cavity are being developed that mitigate these limitations to provide improved triangulation.

Improving backdrivability in preoperative manual manipulability of minimally invasive surgery robot

2018 ◽  
Vol 45 (1) ◽  
pp. 127-140 ◽  
Author(s):  
Shuizhong Zou ◽  
Bo Pan ◽  
Yili Fu ◽  
Shuixiang Guo
Keyword(s):  
Kalman Filter ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Control Algorithm ◽  
Industrial Robot ◽  
Universal Method ◽  
Content Type ◽  
Robotic Arms

Purpose The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual manipulations of robotic arms can be performed in the preoperative operation. Design/methodology/approach First, the flexible-joint dynamic model of the 3-degree of freedom remote center motion (RCM) mechanisms of minimally invasive surgery (MIS) robot is derived and its dynamic parameters and friction parameters are identified. Next, the angular velocities and angular accelerations of joints are estimated in real time by the designed Kalman filter. Finally, a control algorithm based on Kalman filter is proposed to enhance the backdrivability of RCM mechanisms by compensating for the internally generated gravitational, frictional and inertial resistances experienced during the positioning and orientating. Findings The parameter identification for RCM mechanisms can be experimentally evaluated from comparison between the measured torques and the reconstructed torques. The accuracy and convergence of the real-time estimation of angular velocity and acceleration of the joint by the designed Kalman filter can be verified from corresponding simulation experiments. Manual adjustment experiments and animal experiments validate the effectiveness of the proposed backdrivability control algorithm. Research limitations/implications The backdrivability control algorithm presented in this paper is a universal method to enhance the manual operation performance of robots, which can be used not only in the medical robot preoperative manual manipulation but also in robot haptic interaction, industrial robot direct teaching and active rehabilitation training of rehabilitation robot and so on. Originality/value Compared with other backdrivability design methods, the proposed algorithm achieves good backdrivability for RCM mechanisms without using force sensors and accelerometers. In addition, this paper presents a new static friction compensation approach for a joint moving with very low velocity.

Surgeon’s Perception of Soft Tissue Constraints and Distance-to-Break in a Simulated Minimally Invasive Surgery Task

2016 ◽  
Vol 60 (1) ◽  
pp. 1600-1604
Author(s):  
Lindsay O. Long ◽  
Chris C. Pagano ◽  
Ravikiran B. Singapogu ◽  
Timothy C. Burg
Keyword(s):  
Minimally Invasive Surgery ◽  
Soft Tissue ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Biomechanical Properties ◽  
Higher Order ◽  
Mechanical Information ◽  
Deformable Materials ◽  
Tissue Trauma

Accurately perceiving biomechanical properties of tissues is imperative for minimizing tissue trauma and preventable injuries in minimally invasive surgery (MIS). Research has demonstrated that novice observers are able to perceive and use the higher-order mechanical information in compliant, deformable materials which denotes the point at which the material will fail, or break, known as Distance -to-Break (DTB). The present study explored the effect of experience on the perception of DTB. Specifically, this study investigated whether surgeons are able to perceive and utilize DTB in compliant tissue materials more precisely than novices. Using a simulated probing task, results demonstrated that surgeons were more sensitive to DTB, were more accurate at estimating the point at which materials would fail, and were more accurate at applying force onto materials without breaking them. Findings underscore the importance of haptic invariants such as DTB in surgical tasks and the efficacy of using simulators to train haptic skills.

A Skeletal Prototype of Surgical Arm Based on Dual-Triangular Mechanism

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Shao T. Liu ◽  
Laurence Harewood ◽  
Bernard Chen ◽  
Chao Chen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Arms ◽  
The One ◽  
Sufficient Space

The parallelogram-based remote center of motion (RCM) mechanism used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between the robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel mechanism with RCM, dual-triangular linkage (DT-linkage), is introduced to reduce the occupied space by the linkage while keeping sufficient space around the incision. Hence, the chance of collisions among arms and tools can be reduced. The concept of this dual-triangular linkage is proven mathematically and validated by a prototype. Auxiliary mechanisms are introduced to remove the singularity at the fully folded configuration. The characterized footprints of this new linkage and the one based on parallelograms are analyzed and compared.

Kirigami-Based Disposable Laparoscopic Instruments Under Direct Surgeon Control

2020 ◽  
Author(s):  
Carl A. Nelson
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Instrument Design ◽  
Japanese Paper ◽  
Laparoscopic Instruments ◽  
Motion Scaling ◽  
Kinematic Simulations ◽  
General Method

Abstract In this paper, we present a method for fabricating inexpensive, disposable, articulated instruments for minimally invasive surgery based on Japanese paper arts. Building on the literature covering the kinematics of origami, we introduce an articulated instrument design with antagonistic tendon actuation. A general method for achieving a fixed motion scaling ratio in these types of systems is also presented. Kinematic simulations and prototyping demonstrate feasibility of this concept.

Robotic Transanal Minimally Invasive Surgery for Rectal Lesions

2020 ◽  
Vol 27 (2) ◽  
pp. 181-186 ◽  
Author(s):  
Hong-Liang Yao ◽  
James Chi-Yong Ngu ◽  
Yen‑Kuang Lin ◽  
Chia‑Che Chen ◽  
Sheng-Wei Chang ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Da Vinci ◽  
Surgical Techniques ◽  
Length Of Hospital Stay ◽  
Transanal Minimally Invasive Surgery ◽  
Transanal Local Excision ◽  
Estimated Blood Loss ◽  
Robotic Tamis

Background. Transanal minimally invasive surgery (TAMIS) was developed as a less aggressive alternative treatment for rectal lesions. The purpose of this study was to report the results of robotic TAMIS for such patients. Methods. Patients eligible for TAMIS were operated on using the da Vinci robotic surgical system and GelPOINT Path Transanal Access Platform. Patient demographics, lesion characteristics, perioperative data, complications, and follow-up of all patients were recorded retrospectively. Results. Between March 2015 and August 2018, 24 patients underwent robotic TAMIS by using the da Vinci Si or Xi. The median operative time was 129.6 minutes, and the estimated blood loss was minimal. The mean length of hospital stay was 4.6 days, with no operative complications and no 30-day mortality. There were no statistically significant differences in clinical results and pathological outcomes between the 2 generations of da Vinci systems. Conclusions. With the use of robotic technology, transanal local excision for rectal lesions can be performed with relative ease and safety and can be potentially decreasing the morbidity associated with more aggressive surgical techniques.

Sign in / Sign up

Export Citation Format

Share Document