A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting

Bhargav, Santosh D. B.; Chakravarthy, Shanthanu; Ananthasuresh, G. K.

doi:10.1115/1.4007638

Cited by 4 publications

(3 citation statements)

References 11 publications

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“…Alternatively, vision-based force sensing integrated with miniature grippers was reported by Reddy et al [119]. Subsequently, a compliant end-effector to passively limit the force in tele-operated tissue-cutting using the vision-based force sensing for haptic feedback was demonstrated [120].…”

Section: Sensingmentioning

confidence: 99%

Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

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Current surgical devices are mostly rigid and are made of stiff materials, even though their predominant use is on soft and wet tissues. With the emergence of compliant mechanisms (CMs), surgical tools can be designed to be flexible and made using soft materials. CMs offer many advantages such as monolithic fabrication, high precision, no wear, no friction, and no need for lubrication. It is therefore beneficial to consolidate the developments in this field and point to challenges ahead. With this objective, in this article, we review the application of CMs to surgical interventions. The scope of the review covers five aspects that are important in the development of surgical devices: (i) conceptual design and synthesis, (ii) analysis, (iii) materials, (iv) manufacturing, and (v) actuation. Furthermore, the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployable devices. The scope and prospects of surgical devices using CMs are also discussed.

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Section: Sensingmentioning

confidence: 99%

Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

Self Cite

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“…Compliant designs include a superelastic NiTi wrist [5], an asymmetric wrist [6], and a virtual center compliant MIS tool [7]. Compliant end-effector designs include an endoscopic suturing device [8], a statically balanced surgical grasper [9], a forcelimiting scalpel [10], and the origami-inspired compliant forceps, the Oriceps [11].…”

Section: Introductionmentioning

confidence: 99%

Inverted L-Arm Gripper Compliant Mechanism

Dearden

Grames

Jensen

et al. 2017

Journal of Medical Devices

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This work exploits the advantages of compliant mechanisms (devices that achieve their motion through the deflection of flexible members) to enable the creation of small instruments for minimally invasive surgery (MIS). Using flexures to achieve motion presents challenges, three of which are considered in this work. First, compliant mechanisms generally perform inadequately in compression. Second, for a ±90deg range of motion desired for each jaw, the bending stresses in the flexures are prohibitive considering materials used in current instruments. Third, for cables attached at fixed points on the mechanism, the mechanical advantage will vary considerably during actuation. Research results are presented that address these challenges using compliant mechanism principles as demonstrated in a two-degree-of-freedom (2DoF) L-Arm gripper.

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“…Alternatively, visionbased force sensing integrated with miniature grippers was reported by Reddy et al [242]. Subsequently, a compliant end-effector to passively limit the force in tele-operated tissue-cutting using the vision-based force sensing for haptic feedback was demonstrated [114].…”

Section: Sensingmentioning

confidence: 99%

Bending the rules: Magnetically-actuated surgical continuum manipulators

Thomas

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Continuum manipulators have revolutionized the field of minimally invasive surgery (MIS) in the past few decades. Major advances in fiber optics, imaging technologies, teleoperation, and haptics have accelerated the development of robot-assisted surgeries. The continuum manipulators used in robot-assisted surgery are equipped with laparoscopic tools as end effectors to augment the hand movements of the surgeon with precision. With robot assistance, surgeons can perform complex procedures inside the human body with high dexterity. However, the continuum robotics research community has challenged the lack of intuitive and effective operation of the surgical tools. Much uncertainty still exists about the tool-tissue interactions which have associated risks of tissue damage caused by unreliable control and articulation of the tool. This problem is further exacerbated by the limited visualization resolution of internal organs of the human body for safe operation. There is a pressing need to develop continuum manipulators with improved maneuverability and control to reach difficult-to-access surgical sites accurately.The aforementioned challenges of MIS play a critical role in the design and development of surgical continuum manipulators. The concept of compliant mechanisms (CMs) has been central to the design of various surgical devices. CMs are flexible mechanisms that use elastic deformation to transfer or transform force, motion, or energy. Devices made of CMs are generally monolithic in nature which leads to simplified fabrication, no wear, no friction, therefore, beneficial in high precision applications. CMs and their sub-components are increasingly used to enhance the range of motion and articulation of surgical continuum manipulators. Recently, magnetic actuation has emerged as a powerful means to execute several surgical functions such as instrument positioning, navigation, grasping, resection, and retraction. Magnetic actuation coupled with CMs has considerable impact in the design of miniaturized manipulators that eliminates the need for any cables tethered for control. Furthermore, accurate modeling of the continuum manipulators and integration of embedded sensing have been effective in the localization of manipulators. Real-time three-dimensional (3D) shape sensing of manipulators in tandem with medical imaging modalities aids in iii closed-loop control strategy to trace different trajectories with the tip of the manipulator is demonstrated. Clinical feasibility of the manipulator as a steerable catheter is shown in phantoms of a bifurcating artery and a heart with the guidance of a miniature camera.Part II explores the concept of variable stiffness mechanisms for surgical applications focusing on grasping and shape locking. Chapter 5 presents a magnetically-actuated variable stiffness robot (VSR). It is made of a soft magnetic elastomer with a sliding nitinol backbone. The synchronised retraction of the backbone with magnetic actuation leads to high deformation coiling action of the VSR. The grasping of ...

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A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting

Cited by 4 publications

References 11 publications

Surgical Applications of Compliant Mechanisms: A Review

Surgical Applications of Compliant Mechanisms: A Review

Inverted L-Arm Gripper Compliant Mechanism

Bending the rules: Magnetically-actuated surgical continuum manipulators

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