scholarly journals Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

2021 ◽  
Vol 10 (2) ◽  
pp. 619-631
Author(s):  
Sakol Nakdhamabhorn ◽  
M. Branesh Pillai ◽  
Jackrit Suthakorn
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Reaction Force ◽  
Motion Error ◽  
Hand Dexterity ◽  
Internal Disturbance ◽  
Surgical Manipulation ◽  
Surgical Manipulator

Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF Bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response.

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.

scholarly journals Force Feedback Plays a Significant Role in Minimally Invasive Surgery

2005 ◽  
Vol 241 (1) ◽  
pp. 102-109 ◽  
Author(s):  
Gregory Tholey ◽  
Jaydev P. Desai ◽  
Andres E. Castellanos
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Significant Role ◽  
Invasive Surgery ◽  
Force Feedback

Real-Time 2D Surface Profile Mapping of Biological Tissue with Force Feedback in Robot-Assisted Minimally Invasive Surgery

2015 ◽  
Vol 798 ◽  
pp. 319-323
Author(s):  
Ali Reza Hassan Beiglou ◽  
Javad Dargahi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Strain Gauge ◽  
Force Feedback ◽  
Surface Profile ◽  
Robot Assisted ◽  
Contact Points ◽  
Force Signal

It has been more than 20 years that robot-assisted minimally invasive surgery (RMIS) has brought remarkable accuracy and dexterity for surgeons along with the decreasing trauma for the patients. In this paper a novel method of the tissue’s surface profile mapping is proposed. The tissue surface profile plays an important role for material identification during RMIS. It is shown how by integrating the force feedback into robot controller the surface profile of the tissue can be obtained with force feedback scanning. The experiment setup includes a 5 degree of freedoms (DOFs) robot which is equipped with a strain-gauge ball caster as the force feedback. Robot joint encoders signals and the captured force signal of the strain-gauge are transferred to developed surface transformation algorithm (STA). The real-time geometrical transformation process is triggered with force signal to identify contact points between the ball caster and the artificial tissue. The 2D surface profile of tissue will be mapped based on these contact points. Real-time capability of the proposed system is evaluated experimentally for the artifical tissues in a designed test rig.

Force feedback grasper helps bestore sense of touch in minimally invasive surgery

1998 ◽  
Vol 114 ◽  
pp. A1408
Author(s):  
M. MacFarlane ◽  
J. Rosen ◽  
B. Hannaford ◽  
C. Pellegrini ◽  
M. Sinanan
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Sense Of Touch

Influence of visual force feedback on tissue handling in minimally invasive surgery

2014 ◽  
Vol 101 (13) ◽  
pp. 1766-1773 ◽  
Author(s):  
S. P. Rodrigues ◽  
T. Horeman ◽  
P. Sam ◽  
J. Dankelman ◽  
J. J. van den Dobbelsteen ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Tissue Handling ◽  
Visual Force Feedback

Miniature 6-axis force/torque sensor for force feedback in robot-assisted minimally invasive surgery

2015 ◽  
Vol 22 (12) ◽  
pp. 4566-4577 ◽  
Author(s):  
Kun Li ◽  
Bo Pan ◽  
Wen-peng Gao ◽  
Hai-bo Feng ◽  
Yi-li Fu ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Torque Sensor ◽  
Robot Assisted

scholarly journals Minimally invasive surgery and transsulcal parafascicular approach in the evacuation of intracerebral haemorrhage

2019 ◽  
Vol 5 (1) ◽  
pp. 40-49
Author(s):  
Lina Marenco-Hillembrand ◽  
Paola Suarez-Meade ◽  
Henry Ruiz Garcia ◽  
Ricardo Murguia-Fuentes ◽  
Erik H Middlebrooks ◽  
...  
Keyword(s):  
Patient Outcome ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Intracerebral Haemorrhage ◽  
Small Diameter ◽  
Substantial Improvement ◽  
Brain Parenchyma ◽  
Anatomical Dissection ◽  
Surgical Manipulation

Intracerebral haemorrhage (ICH) describes haemorrhage into the brain parenchyma that may result in a decline of the patient’s neurological function. ICH is a common cause of morbidity and mortality worldwide. Aggressive surgical treatment for ICH has remained controversial as clinical trials have failed to demonstrate substantial improvement in patient outcome and mortality. Recently, promising mechanical and pharmacological minimally invasive surgery (MIS) techniques for the treatment of ICH have been described. MIS was designed with the objective of reducing morbidity due to complications of surgical manipulation. Mechanical MIS includes the use of tubular retractors and small diameter instruments for ICH removal. Pharmacological methods consist of catheter placement inside the haematoma cavity for the passive drainage of the haematoma over the course of several days. One of the most favourable approaches for MIS is the use of natural corridors for reaching the lesion, such as the transsulcal parafascicular approach. This approach provides an anatomical dissection of the subjacent white matter tracts, causing the least amount of damage while evacuating the haematoma. A detailed description of the currently known MIS techniques and devices is presented in this review. Special attention is given to the transsulcal parafascicular approach, which has particular benefits to provide a less traumatic MIS with promising overall patient outcome.

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