A New Robot for High Dexterity Microsurgery

Schenker, Paul S.; Das, H.; Ohm, Timothy R.

doi:10.1007/978-3-540-49197-2_13

Cited by 29 publications

(13 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For example, because the eye is easily accessible, relatively large manipulators can be used, even though the position resolution of these systems must be on the order of tens of microns or smaller. Hunter et al [37] developed a system for eye surgery using direct-drive electromagnetic actuators, while Jensen et al [38], Kozlowski et al [39], and Schenker et al [41] used dc motors to drive preloaded ball screw, cable, and hydraulic transmissions, respectively, without backlash. Some groups have developed macro-micro-scale positioners, including Yan et al [42] with Lorentz magnetic levitation actuators and Mitsuishi et al [40] with stepper motors for angular position and hydraulic linear actuators for fine motion.…”

Section: Actuationmentioning

confidence: 99%

See 1 more Smart Citation

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

Abstract-Many surgical procedures are now performed using the techniques of minimally invasive surgery (MIS), in which unnecessary trauma is limited by reducing the size of incisions to less than about 1 cm or by using catheters or endoscopes threaded through vessels, the gastrointestinal tract, or other tubular structures. Micromechatronic technologies have great potential to allow access to regions now inaccessible, or to enhance the surgeon's abilities in applications where current minimally invasive techniques do not permit the full range of human dexterity and perception. Key needs and applications in MIS are identified, and relevant technologies, methods, and systems issues in mechatronics are discussed. The authors' millirobotic system for MIS of the abdomen is used as an example.

show abstract

Section: Actuationmentioning

confidence: 99%

“…Pneumatics are more compliant, but the lower system pressure produces lower resultant forces in small devices. Cables allow compact transmission, but must be designed carefully to reduce unwanted compliance, friction, and backlash, and to avoid coupling between axes [41].…”

Section: Actuationmentioning

confidence: 99%

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…The understanding of the mechanisms operating in traumatic injuries requires the use of a high-speed strain rate. On the other hand, the development of automatic surgical tools and robots [16,17,18,19,20] and virtual reality techniques [21,22] focuses on research in the moderate-speed deformation, which is important for surgical procedures [7].…”

Section: Introductionmentioning

confidence: 99%

An Experimental and Numerical Investigation of the Mechanical Properties of Spinal Cords

2016

APH

View full text Add to dashboard Cite

“…2 Their use as tools to help surgeons in microsurgery is a relatively recent concept. 5,18 The Robot Assisted MicroSurgery (RAMS) system 4,13,14 evaluated in this article allows a surgeon to command motions for a surgical instrument using an input device that precisely measures his hand motions in six degrees of freedom. The mea-surements are read into a computational subsystem where they are transformed then used to drive a six-degrees-of-freedom robot that holds a surgical instrument.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of a telerobotic system to assist surgeons in microsurgery

Das

Zak

Johnson

et al. 1999

Comput. Aided Surg.

Self Cite

View full text Add to dashboard Cite

A tool was developed that assists surgeons in manipulating surgical instruments more precisely than is possible manually. The tool is a telemanipulator that scales down the surgeon's hand motion and filters tremor in the motion. The signals measured from the surgeon's hand are transformed and used to drive a six-degrees-of-freedom robot to position the surgical instrument mounted on its tip. A pilot study comparing the performance of the telemanipulator system against manual instrument positioning was conducted at the University of Southern California School of Medicine. The results show that a telerobotic tool can improve the performance of a microsurgeon by increasing the precision with which he can position surgical instruments, but this is achieved at the cost of increased time in performing the task. We believe that this technology will extend the capabilities of microsurgeons and allow more surgeons to perform highly skilled procedures currently performed only by the best surgeons. It will also enable performance of new surgical procedures that are beyond the capabilities of even the most skilled surgeons.

show abstract

A New Robot for High Dexterity Microsurgery

Cited by 29 publications

References 3 publications

Applications of micromechatronics in minimally invasive surgery

Applications of micromechatronics in minimally invasive surgery

An Experimental and Numerical Investigation of the Mechanical Properties of Spinal Cords

Evaluation of a telerobotic system to assist surgeons in microsurgery

Contact Info

Product

Resources

About