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.

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].

Transanal Minimally Invasive Surgery (TAMIS): New Treatment for Early Rectal Cancer and Large Rectal Polyps—Experience of an Italian Center

2015 ◽  
Vol 81 (3) ◽  
pp. 273-277 ◽  
Author(s):  
Riccardo Maglio ◽  
Gallinella Marco Muzi ◽  
Massimo Meucci Massimo ◽  
Luigi Masoni
Keyword(s):  
Rectal Cancer ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Local Excision ◽  
Invasive Surgery ◽  
Invasive Technique ◽  
Single Incision Laparoscopic Surgery ◽  
Early Rectal Cancer ◽  
Transanal Minimally Invasive Surgery ◽  
Laparoscopic Instruments

Transanal endoscopic microsurgery (TEM) is a minimally invasive technique for excision of rectal tumors that avoids conventional pelvic resectional surgery along with its risks and side effects. Although appealing, the associated cost and complex learning curve limit TEM use by colorectal surgeons. Transanal minimally invasive surgery (TAMIS) has emerged as an alternative to TEM. This platform uses ordinary laparoscopic instruments to achieve high-quality local excision. The aim of the study is to assess reliability of the technique. From July 2012 to August 2013, 15 consecutive patients with rectal pathology underwent TAMIS. After a single-incision laparoscopic surgery port was introduced into the anal canal, a pneumorectum was established with a laparoscopic device followed by transanal excision with conventional laparoscopic instruments, including graspers, electrocautery, and needle drivers. Patient demographics, operative data, and pathologic data were recorded. Of the 15 patients, 10 had rectal cancers (six T1 lesions and four T2 after preoperative chemoradiotherapy). The remainder of patients had a local excision for voluminous benign rectal adenomas. The median length of the lesions from the anal verge was 7 cm (range, 4 to 20 cm). The median operating time was 86 minutes (range, 33 to 160 minutes). There was no surgical morbidity or mortality. The median postoperative hospital stay was two days (range, 1 to 4 days). TAMIS seems to be a feasible and safe treatment option for early rectal cancer. We believe that this new technique is easy to perform, cost-effective, and less traumatic to the anal sphincter compared with traditional TEM.

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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