Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models

2005 ◽  
Vol 103 (2) ◽  
pp. 320-327 ◽  
Author(s):  
Akio Morita ◽  
Shigeo Sora ◽  
Mamoru Mitsuishi ◽  
Shinichi Warisawa ◽  
Katopo Suruman ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Control Unit ◽  
Feasibility Studies ◽  
Robotic System ◽  
Content Type ◽  
Field Development ◽  
Six Degrees Of Freedom ◽  
Surgical Field ◽  
Robotic Instruments ◽  
Fine Print

Object. To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master—slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. Methods. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Conclusions. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

Investigation of the flight behavior of a flare-stabilized projectile using 6DoF simulations coupled with CFD

2019 ◽  
Vol 30 (9) ◽  
pp. 4185-4201
Author(s):  
Daniel Klatt ◽  
Michael Proff ◽  
Robert Hruschka
Keyword(s):  
Degrees Of Freedom ◽  
Rigid Body Dynamics ◽  
Flight Behavior ◽  
Free Flight ◽  
Aerodynamic Coefficients ◽  
Cfd Simulations ◽  
Time Resolved ◽  
Content Type ◽  
Six Degrees Of Freedom ◽  
Computational Fluid Dynamics Cfd

Purpose The present work aims to investigate the capabilities of accurately predicting the six-degrees-of-freedom (6DoF) trajectory and the flight behavior of a flare-stabilized projectile using computational fluid dynamics (CFD) and rigid body dynamics (RBD) methods. Design/methodology/approach Two different approaches are compared for calculating the trajectory. First, the complete matrix of static and dynamic aerodynamic coefficients for the projectile is determined using static and dynamic CFD methods. This discrete database and the data extracted from free-flight experiments are used to simulate flight trajectories with an in-house developed 6DoF solver. Second, the trajectories are simulated solving the 6DoF motion equations directly coupled with time resolved CFD methods. Findings Virtual fly-out simulations using RBD/CFD coupled simulation methods well reproduce the motion behavior shown by the experimental free-flight data. However, using the discrete database of aerodynamic coefficients derived from CFD simulations shows a slightly different flight behavior. Originality/value A discrepancy between CFD 6DoF/RBD simulations and results obtained by the MATLAB 6DoF-solver based on discrete CFD data matrices is shown. It is assumed that not all dynamic effects on the aerodynamics of the projectile are captured by the determination of the force and moment coefficients with CFD simulations based on the classical aerodynamic coefficient decomposition.

A transparent sheath for endoscopic surgery and its application in surgical evacuation of spontaneous intracerebral hematomas

2000 ◽  
Vol 92 (6) ◽  
pp. 1053-1055 ◽  
Author(s):  
Tetsuhiro Nishihara ◽  
Akira Teraoka ◽  
Akio Morita ◽  
Keisuke Ueki ◽  
Keisuke Takai ◽  
...  
Keyword(s):  
Endoscopic Surgery ◽  
Brain Parenchyma ◽  
Bleeding Point ◽  
Content Type ◽  
Minimal Invasiveness ◽  
Surgical Evacuation ◽  
Endoscopic Evacuation ◽  
Surgical Field ◽  
The Brain ◽  
Fine Print

✓ The authors advocate the use of a transparent sheath for guiding an endoscope, a simple and unique tool for endoscopic surgery, and describe preliminary results of its application in the evacuation of hypertensive intracerebral hematomas. This sheath is a 10-cm-long tube made of clear acrylic plastic, which greatly improves visualization of the surgical field through a 2.7-mm nonangled endoscope inserted within. Between April 1997 and December 1998, the authors performed endoscopic evacuation of intracerebral hematomas by using this sheath inserted into the patients' heads through a burr hole. In nine consecutive cases in which the hematoma was larger than 40 ml in volume, nearly complete evacuation (86–100%) of the lesion was achieved without complication. Excellent visualization of the border between the brain parenchyma and the hematoma facilitated accurate intraoperative orientation, and also allowed easy identification of the bleeding point. Thus, this combination of sheath and endoscope achieves both minimal invasiveness and the maximum extent of hematoma removal with secure hemostasis. This tool will reduce the inherent disadvantage of endoscopic procedures and may expand their application in other areas of neurosurgical management.

Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

2014 ◽  
Vol 11 (2) ◽  
pp. 235-246 ◽  
Author(s):  
Yo Kobayashi ◽  
Yuta Sekiguchi ◽  
Takehiko Noguchi ◽  
Yu Takahashi ◽  
Quanquan Liu ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Single Port ◽  
Robotic System ◽  
Six Degrees Of Freedom ◽  
Single Port Surgery ◽  
Robotic Tool

General inverse solution of six-degrees-of-freedom serial robots based on the product of exponentials model

2018 ◽  
Vol 38 (3) ◽  
pp. 361-367 ◽  
Author(s):  
Haixia Wang ◽  
Xiao Lu ◽  
Wei Cui ◽  
Zhiguo Zhang ◽  
Yuxia Li ◽  
...  
Keyword(s):  
Design Methodology ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Complex Problem ◽  
Content Type ◽  
Geometrical Properties ◽  
Closed Form Solutions ◽  
Six Degrees Of Freedom ◽  
Serial Robots ◽  
Six Dof

Purpose Developing general closed-form solutions for six-degrees-of-freedom (DOF) serial robots is a significant challenge. This paper thus aims to present a general solution for six-DOF robots based on the product of exponentials model, which adapts to a class of robots satisfying the Pieper criterion with two parallel or intersecting axes among its first three axes. Design/methodology/approach The proposed solution can be represented as uniform expressions by using geometrical properties and a modified Paden–Kahan sub-problem, which mainly adopts the screw theory. Findings A simulation and experiments validated the correctness and effectiveness of the proposed method (general resolution for six-DOF robots based on the product of exponentials model). Originality/value The Rodrigues rotation formula is additionally used to turn the complex problem into a solvable trigonometric function and uniformly express six solutions using two formulas.

Accuracy estimation of a stretch-retractable single section continuum manipulator based on inverse kinematics

2019 ◽  
Vol 46 (5) ◽  
pp. 573-580
Author(s):  
Hao Wang ◽  
GuoHua Gao ◽  
Qixiao Xia ◽  
Han Ren ◽  
LianShi Li ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Content Type ◽  
Kinematics Model ◽  
Six Degrees Of Freedom ◽  
Single Section ◽  
Motion Range ◽  
Continuum Manipulator ◽  
Three Degrees Of Freedom

Purpose The purpose of this paper is to present a novel stretch-retractable single section (SRSS) continuum manipulator which owns three degrees of freedom and higher motion range in three-dimension workspace than regular single continuum manipulator. Moreover, the motion accuracy was analyzed based on the kinematic model. In addition, the experiments were carried out for validation of the theory. Design/methodology/approach A kinematics model of the SRSS continuum manipulator is presented for analysis on bending, rotating and retracting in its workspace. To discuss the motion accuracy of the SRSS continuum manipulator, the dexterity theory was introduced based on the decomposing of the Jacobian matrix. In addition, the accuracy of motion is estimated based on the inverse kinematics and dexterity theory. To verify the presented theory, the motion of free end was tracked by an electromagnetic positioning system. According to the comparison of experimental value and theoretical analysis, the free end error of SRSS continuum manipulator is less than 6.24 per cent in the region with favorable dexterity. Findings This paper presents a new stretch-retractable continuum manipulator that the structure was composed of several springs as the backbone. Thus, the SRSS continuum manipulator could own wide motion range depending on its retractable structure. Then, the motion accuracy character of the SRSS continuum manipulator in the different regions of its workspace was obtained both theoretically and experimentally. The results show that the high accuracy region distributes in the vicinity of the outer boundary of the workspace. The motion accuracy gradually decreases with the motion position approaching to the center of its workspace. Research limitations/implications The presented SRSS continuum manipulator owns three degrees of freedom. The future work would be focused on the two-section structure which will own six degrees of freedom. Practical implications In this study, the SRSS continuum manipulator could be extended to six degrees of freedom continuum robot with two sections that is less one section than regular six degrees of freedom with three single section continuum manipulator. Originality/value The value of this study is to propose a SRSS continuum manipulator which owns three degrees of freedom and could stretch and retract to expend workspace, for which the accuracy in different regions of the workspace was analyzed and validated based on the kinematics model and experiments. The results could be feasible to plan the motion space of the SRSS continuum manipulator for keeping in suitable accuracy region.

Modifications to the orbitozygomatic approach

2003 ◽  
Vol 99 (5) ◽  
pp. 924-930 ◽  
Author(s):  
G. Michael Lemole ◽  
Jeffrey S. Henn ◽  
Joseph M. Zabramski ◽  
Robert F. Spetzler
Keyword(s):  
Skull Base ◽  
Skull Base Surgery ◽  
Complete Removal ◽  
Surgical Indications ◽  
Content Type ◽  
Orbitozygomatic Approach ◽  
Technical Details ◽  
Surgical Field ◽  
Brain Retraction ◽  
Fine Print

✓ The orbitozygomatic craniotomy is one of the workhorse approaches of skull base surgery, providing wide, multidirectional access to the anterior and middle cranial fossae as well as the basilar apex. Complete removal of the orbitozygomatic bar increases the angles of exposure, decreases the working depth of the surgical field, and minimizes brain retraction. In many cases, however, only a portion of the exposure provided by the full orbitozygomatic approach is needed. Tailoring the extent of the bone resection to the specific lesion being treated can help lower approach-related morbidity while maintaining its advantages. The authors describe the technical details of the supraorbital and subtemporal modified orbitozygomatic approaches and discuss the surgical indications for their use. Modifications to the orbitozygomatic approach are an example of the ongoing adaptation of skull base procedures to general neurosurgical practice.

Which impedance strategy is the most effective for cooperative object manipulation?

2017 ◽  
Vol 44 (2) ◽  
pp. 198-209 ◽  
Author(s):  
Payam Zarafshan ◽  
Reza Larimi ◽  
S. Ali A. Moosavian ◽  
Bruno Siciliano
Keyword(s):  
Conceptual Model ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Object Manipulation ◽  
Robotic System ◽  
Control Algorithms ◽  
Practical Implementation ◽  
Content Type ◽  
Manipulation Task ◽  
Cooperative Object Manipulation

Purpose The purpose of this paper is to present a comparison study of cooperative object manipulation control algorithms. To this end, a full comprehensive survey of the existing control algorithms in this field is presented. Design/methodology/approach Cooperative manipulation occurs when manipulators are mechanically coupled to the object being manipulated, and the manipulators may not be treated as an isolated system. The most important and basic impedance control (IC) strategies for an assumed cooperative object manipulation task are the Augmented Object Model (AOM) control and the multiple impedance control (MIC) which are found based on the IC, where the former is designed based on the object movement, and the latter is designed based on the whole robot movement. Thus, the basis of these two algorithms are fully studied. Findings The results are fully analyzed, and it is practically verified that the MIC algorithm has the better performance. In fact, the results reveal that the MIC system could successfully perform the object manipulation task, as opposed to the AOM controller: for the same controller gains, the MIC strategy showed better performance than the AOM strategy. This means that because there is no control on the robot base with the AOM algorithm, the object manipulation task cannot be satisfactorily performed whenever the desired path is not within the robot work space. On the other hand, with the MIC algorithm, satisfactory object manipulation is achieved for a mobile robotic system in which the robot base, the manipulator endpoints and the manipulated object shall be moved. Practical implications A simple conceptual model for cooperative object manipulation is considered, and a suitable setup is designed for practical implementation of the two ICs. Originality/value The basis of these two aspects or these two algorithms is fully studied and compared which is the foundation of this paper. For this purpose, a case study is considered, in which a space free-flying robotic system, which contains two 2-degrees of freedom planar cooperative manipulators, is simulated to manipulate an object using the above control strategies. The system also includes a rotating antenna and camera as its third and fourth arm. Finally, a simple conceptual model for cooperative object manipulation is considered, and a suitable setup is designed for practical implementation of the two ICs.

Biomechanical testing of anterior and posterior thoracolumbar instrumentation in the cadaveric spine

2004 ◽  
Vol 1 (1) ◽  
pp. 116-121 ◽  
Author(s):  
Kurt M. Eichholz ◽  
Patrick W. Hitchon ◽  
Aaron From ◽  
Paige Rubenbauer ◽  
Satoshi Nakamura ◽  
...  
Keyword(s):  
Pedicle Screw ◽  
Degrees Of Freedom ◽  
Posterior Instrumentation ◽  
Axial Rotation ◽  
Anterior Instrumentation ◽  
Content Type ◽  
Advantages And Disadvantages ◽  
Intact State ◽  
Flexion Extension ◽  
Fine Print

Object. Thoracolumbar burst fractures frequently require surgical intervention. Although the use of either anterior or posterior instrumentation has advantages and disadvantages, there have been few studies in which these two approaches have been compared biomechanically. Methods. Ten human cadaveric spines were subjected to subtotal L-3 corpectomy. In five spines placement of L-3 wooden strut grafts with lateral L2–4 dual rod and screw instrumentation was performed. Five other spines underwent L1–5 pedicle screw fixation. The spines were fatigued between steps of the experiment. The spines were load tested with pure moments of 1.5, 3, 4.5, and 6 Nm in the intact state and after placement of instrumentation in six degrees of freedom (flexion, extension, right and left lateral bending, and right and left axial rotation). In axial rotation posterior instrumentation significantly increased spinal rigidity compared with that of the intact state, whereas anterior instrumentation did not. Combined anterior—posterior instrumentation did not significantly increase the rigidity of the spine when compared with anterior or posterior instrumentation alone. Posterior instrumentation alone provided a greater reduction in angular rotation compared with anterior instrumentation alone in all degrees of freedom; however, statistical significance was achieved only in extension at 6 Nm. Conclusions. The increased rigidity provided by pedicle screw instrumentation compared with the intact state or with anterior instrumentation is due to the longer construct spanning five levels and the three-column engagement of the pedicle screws. The decision to use anterior or posterior instrumentation should be based on the clinical necessity of canal decompression and correction of angulation.

Modification of a nasal speculum for transsphenoidal surgery

2000 ◽  
Vol 92 (2) ◽  
pp. 359-360 ◽  
Author(s):  
Hiroji Miyake ◽  
Tomio Ohta
Keyword(s):  
Transsphenoidal Surgery ◽  
Sphenoid Sinus ◽  
Anterior Wall ◽  
Surgical Instruments ◽  
Content Type ◽  
Inferior Portion ◽  
Surgical Field ◽  
The Individual ◽  
Inferior Edge ◽  
Fine Print

✓ The authors modified a Hardy nasal speculum to improve the access to surgical fields and the handling of various instruments during transsphenoidal surgery. A section of the inferior edge of the speculum was cut out 2 cm from its orifice on both sides. The thickness of the tip of the speculum was also reduced. The authors are prepared to operate using a variety of speculum lengths (the distance between the tip and the cutting level), and this length is selected depending on the distance between the anterior wall of the sphenoid sinus and the surface of the gingiva in the individual patient.A modified nasal speculum was used in transsphenoidal surgery for a pituitary adenoma. With use of this device, the protrusion of the speculum above the gingiva was markedly decreased. Because most instruments are inserted into the inferior portion of the speculum orifice, this approach facilitated the handling of all surgical instruments through the modified nasal speculum. The actual surgical field became shallow and wide, and the long surgical instruments that are generally used for transsphenoidal surgery were unnecessary in most cases.

Relative Motion Emulating Robotic System as a Test Bed for Aerial Refueling Using VISNAV and Mobile Stewart Platforms

2007 ◽  
Author(s):  
Changhwa Cho ◽  
John Junkins
Keyword(s):  
Relative Motion ◽  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Ground Level ◽  
Parallel Manipulators ◽  
Robotic System ◽  
Test Bed ◽  
Aerial Refueling ◽  
Six Degrees Of Freedom ◽  
Stewart Platforms

This paper describes a relative motion emulating robotic system (RMERS) which is made up with a vision navigation (VISNAV), a novel method for proximity navigation and mobile Stewart platforms, parallel manipulators to have six degrees of freedom. The RMERS is a ground-based test bed for aerial refueling and enables already simulated results to physically demonstrate their performance in a ground level. The scope of REMES can reach any relative dynamical system which requires experimental tests. This paper presents theoretical introduction prior to making REMES tangible in the lab. The VISNAV system and the kinematics and dynamics of the Stewart platform will be shortly introduced and dynamical mapping from aerial refueling to mobile Stewart platforms will be given. Finally, some numerical results are simulated.

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