A dexterous system for laryngeal surgery

Simaan, Nabil; Taylor, Russell H.; Flint, Paul W.

doi:10.1109/robot.2004.1307175

Cited by 285 publications

(172 citation statements)

References 18 publications

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“…To summarize, cases 1-3 described above are all special cases of (14). Explicitly, (14) can be reformulated by combining all the minimized objective functions and constraints, substituting the equality constraint of (14c) and using (12) and (13) to give a combined optimization problem as given by (25).…”

Section: ) Avoiding Joint Speed Limitsmentioning

confidence: 99%

“…While the majority of works focused on developing endoscopes and active bending catheters [6]- [11] there is a growing number of works targeting surgical assistance, including distal dexterity enhancement for Minimally Invasive Surgery (MIS). Our group is currently focusing on developing a tele-robotic system for MIS of the larynx and upper airways [12], [13].…”

mentioning

confidence: 99%

“…By using both push and pull forces on these backbones, the SLU can bend in any direction and the load distribution on the backbones can be optimized. This is achieved through a separate actuation redundancy algorithm as presented in [12]. The similarities and differences between this unit and previous works using flexible backbones and wire actuation were described in [12], [14].…”

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confidence: 99%

“…The direct kinematics and the instantaneous kinematics of the SLU were presented in [12]. The same notation is used in this paper and part of it is presented here for completeness.…”

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confidence: 99%

“…The same notation is used in this paper and part of it is presented here for completeness. As in [12], the pose of the SLU is represented by two angles θ L and δ. The joint variables for the SLU, that is the secondary backbone lengths depend on the angles θ L and δ and are given by the inverse kinematic solution…”

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confidence: 99%

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Suturing in confined spaces: constrained motion control of a hybrid 8-DoF robot

Kapoor

Simaan

Taylor

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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Abstract-We present our work on developing and testing the high-level control for a future tele-robotic system for minimally invasive surgery of the throat and upper airways. As a testbed for these experiments, we used a hybrid 8 Degrees-ofFreedom (DoF) experimental robot composed of a six DoF robot and a two DoF snake-like unit. The kinematics and weighted redundancy resolution to support suturing in confined spaces, such as the throat, is developed and experimental validation in presented. The kinematics of the hybrid system is described in an 8-dimensional augmented vector space composed from the joint variables of the six DoF robot and two angles describing the configuration of the snake-like unit. Then a weighted, multi objective, optimization framework is used to perform the suturing operation under the assumption of a predefined suture geometry while satisfying joint limits, torque constraints, and minimizing extraneous motions of the system joints.

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Section: ) Avoiding Joint Speed Limitsmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

“…The direct kinematics and the instantaneous kinematics of the SLU were presented in [12]. The same notation is used in this paper and part of it is presented here for completeness.…”

mentioning

confidence: 99%

mentioning

confidence: 99%

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Suturing in confined spaces: constrained motion control of a hybrid 8-DoF robot

Kapoor

Simaan

Taylor

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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Continuum Robots: An Overview

Russo

Sadati

Dong

et al. 2023

Advanced Intelligent Systems

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When thinking of robots, the image that immediately springs to mind is either an android, designed to resemble human beings and mimic their behavior, or an industrial manipulator, for example, a large machine of rigid steel working in an assembly line. However, robotic systems of multiple forms have been developed to carry out the most diverse tasks, with designs that evolved from readily available structures, such as vehicles, or inspired by nature. In the last decade, more and more bioinspired designs have been enabled by advances in computer science, materials, and manufacturing. Among them, continuum robots, inspired by snakes, trunks, and tendrils, are characterized by a compliant backbone capable of continuous bending, whose shape (configuration, i.e., position and orientation along the backbone curve) is controlled by applying loads through onboard "intrinsic" actuators (e.g., pneumatics or hydraulics) or transmission elements (e.g., tendons, rods, or compliant tubes) that are pushed/pulled from an extremity of the backbone ("extrinsic actuation"). These robots have flexible bodies with a high length to cross-section diameter ratio and are uniquely suited to tasks that require the deployment of tools or sensors with a long reach into tortuous and narrow paths. [1] Continuum robots were first developed in the 1960s [2] and rose to prominence in the late 1990s, [3] when they were often called elephant trunk, [4] tentacle/tendril, [5] or flexible [6] manipulators. Whereas other robots were characterized by intrinsic actuation and larger sizes, research on continuum robots first focused on miniaturization for medical applications, [7,8] leading to extrinsic actuation to enable leaner designs. Recently, continuum robots have been developed for a wider range of applications, including manufacturing, aerospace, search and rescue, and nuclear. In such scenarios, the infinite degrees of freedom (DoFs) of these slender robots enable inspection and intervention in areas that cannot be accessed by conventional robots (e.g., tunnels [9] and gas turbines [10] ).An exhaustive literature search (see Appendix) outlines a surging interest in continuum robots, with a 19.6% average annual growth in publications between 2012 and 2021 (continuum robot search on Web of Science). Three main topics can be observed in recent literature surveys, listed in Table 1. DesignTendon-driven and concentric tube robots are predominant in surveys, but they are not the only design solutions. [18] This richer literature can be attributed to intense research effort toward medical and other small-scale applications when compared to larger-scale tasks (e.g., manipulation) where intrinsic actuation is advantageous.

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System design and animal experiment study of a novel minimally invasive surgical robot

Wang

et al. 2015

Robotics Computer Surgery

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Background Robot-assisted minimally invasive surgery has shown tremendous advances over the traditional technique. However, currently commercialized systems are large and complicated, which vastly raises the system cost and operation room requirements.Methods A MIS robot named 'MicroHand' was developed over the past few years. The basic principle and the key technologies are analyzed in this paper. Comparison between the proposed robot and the da Vinci system is also presented. Finally, animal experiments were carried out to test the performance of MicroHand. ResultsFifteen animal experiments were carried out from July 2013 to December 2013. All animal experiments were finished successfully. ConclusionsThe proposed design method is an effective way to resolve the drawbacks of previous generations of the da Vinci surgical system. The animal experiment results confirmed the feasibility of the design. one was the assistant, and the third was the anesthesia surgeon. The main surgeon, without robotic surgery experience, had completed nearly 700 laparoscopic surgeries.The operations in all experiments complied with animal ethical standards. Each pig was in an ideal anesthetic state before surgery. Figure 15. Freeing the duct of the gall bladder 82 W. Wang et al.

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A dexterous system for laryngeal surgery

Cited by 285 publications

References 18 publications

Suturing in confined spaces: constrained motion control of a hybrid 8-DoF robot

Suturing in confined spaces: constrained motion control of a hybrid 8-DoF robot

Continuum Robots: An Overview

System design and animal experiment study of a novel minimally invasive surgical robot

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