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.

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 Design of an Adjustable Table Mount for Multifunctional NOTES Robot

2017 ◽  
Author(s):  
Shannon Fischer ◽  
Tao Shen ◽  
Carl Nelson ◽  
Dmitry Oleynikov
Keyword(s):  
Endoscopic Surgery ◽  
Degrees Of Freedom ◽  
Natural Orifice ◽  
End Effector ◽  
Surgical Method ◽  
Limited Space ◽  
External Incisions

Natural orifice transluminal endoscopic surgery (NOTES) is a method in which tools are passed through a natural orifice to the surgical site. This removes the need for external incisions, which can allow patients to recover more quickly without any visible abdominal scarring. This surgical method also has several limitations including limited space, complex lumen geography, and difficult visualization [1]. To address these problems, researchers have developed various tools, including endoscope-based robots [2], and insertable bimanual robots [3]. However, some of the aforementioned constraints/limitations remain, and consideration of accessories for use with these tools remains relevant. Our lab designed a multifunctional NOTES robot, which consists of a snakelike linkage driven by cables that are attached to motors in an external housing to navigate through the lumen geometry; it also includes a bimanual end effector with interchangeable tool tips [4]. This paper introduces the design of an adjustable table mount to address the limitations related to transluminal insertion. It provides four passive degrees of freedom (DOFs) to grossly place the robot, and enables the robot to be fixed on surgical tables with different sizes. Benchtop testing on a surgical table with a patient mannequin demonstrates its functionality.

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.

ROBOTICS IN NATURAL ORIFICE TRANSLUMINAL ENDOSCOPIC SURGERY

2013 ◽  
Vol 13 (02) ◽  
pp. 1350044 ◽  
Author(s):  
YUE ZHOU ◽  
HONGLIANG REN ◽  
MAX Q.-H. MENG ◽  
ZION TSZ HO TSE ◽  
HAOYONG YU
Keyword(s):  
Laparoscopic Surgery ◽  
Endoscopic Surgery ◽  
System Development ◽  
Abdominal Cavity ◽  
Recovery Period ◽  
Skin Incision ◽  
Surgical Instruments ◽  
Natural Orifice ◽  
The Arts ◽  
Post Operative Pain

Natural orifice translumenal endoscopic surgery (NOTES) is the latest surgery paradigm in which the abdominal cavity is accessed via the body's natural orifice, e.g., vagina, mouth, etc. Compared with traditional laparoscopic surgery, NOTES completely eliminates the skin incision and therefore benefits the patients in several aspects such as less post-operative pain, shorter recovery period, fewer complications, etc. Due to the unique characteristics of NOTES, instruments for traditional laparoscopic surgery are not suitable for NOTES and hence novel hardware design is necessary for facilitating system development. This paper gives an overview of the state of the arts in the development of surgical instruments for NOTES, particularly with a focus on the promising robotic endoscopes.

scholarly journals Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3498
Author(s):  
Youqiang Zhang ◽  
Cheol-Su Jeong ◽  
Minhyo Kim ◽  
Sangrok Jin
Keyword(s):  
Control Algorithm ◽  
Position Control ◽  
Friction Model ◽  
Surgical Instruments ◽  
Control Input ◽  
End Effector ◽  
Motor Current ◽  
Direct Teaching ◽  
End Effectors ◽  
Teaching Operation

This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic mechanism can actively transmit force both upwards and downwards by staggering the wires on both sides. In order to estimate and control torque via motor current without a force/torque sensor, the gravity model and friction model of the device are derived through repeated experiments. The LuGre model is applied to the friction model, and the static and dynamic parameters are obtained using a curve fitting function and a genetic algorithm. Direct teaching control is designed using a force-free control algorithm that compensates for the estimated torque from the motor current for gravity and friction, and then converts it into a position control input. Direct teaching operation sensitivity is verified through hand-guiding experiments.

Motion order system for the end effector of an instrument used in endoscopic surgery

2003 ◽  
Vol 17 (6) ◽  
pp. 481-501 ◽  
Author(s):  
Shigeyuki Shimachi ◽  
Akira Hashimoto ◽  
Masamichi Sakaguchi
Keyword(s):  
Endoscopic Surgery ◽  
Order System ◽  
End Effector
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