A new single-port robotic system based on a parallel kinematic structure

Matich, Sebastian; Neupert, Carsten; Kirschniak, Andreas; Schlaak, Helmut F.; Pott, Peter P.

doi:10.1109/iros.2015.7353380

Cited by 9 publications

(2 citation statements)

References 8 publications

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“…Concentric tube robots, although feasible for telemanipulation [15], [16], are not capable of manipulating tissue or exerting high forces as required in suturing [4]. In contrast, a 4-DoF instrument based on parallel kinematics [17] and designed for TEMS, proved capable of exerting high forces of 5 N and speeds of 200 mm/s.…”

Section: Introductionmentioning

confidence: 99%

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Leibrandt

Wisanuvej

Gras

et al. 2017

IEEE Robot. Autom. Lett.

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Abstract-The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace through natural orifices such as the mouth or the anus. Due to the long and narrow nature of these access pathways, external triangulation at the fulcrum point is very limited or absent, which makes introducing multiple degrees of freedom at the distal end of the instrument necessary. Additionally, high force and miniaturization requirements make the control of such instruments particularly challenging. This paper presents the kinematic considerations needed to effectively manipulate these novel instruments and allow their dexterous control in confined spaces. A non-linear calibration model is further used to map joint to actuator space and improve significantly the precision of the instrument's motion. The effectiveness of the presented approach is quantified with bench tests, and the usability of the system is assessed by three user studies simulating the requirements of a realistic surgical task.

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Section: Introductionmentioning

confidence: 99%

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Leibrandt

Wisanuvej

Gras

et al. 2017

IEEE Robot. Autom. Lett.

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“…Corresponding author: piyamate.w12@imperial.ac.uk devices operating in task space include delta platforms such as the omega.7 and sigma.7 haptic devices (Force Dimension, Switzerland), or the master manipulator of the FLEXMIN system [1]. Other task space master manipulators include serial-link devices such as the Geomagic Touch (Geomagic, USA), and the da Vinci surgical system master manipulator (Intuitive Surgical, USA).…”

Section: Introductionmentioning

confidence: 99%

Master manipulator designed for highly articulated robotic instruments in single access surgery

Wisanuvej

Gras

Leibrandt

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The performance of a master-slave robotic system depends significantly on the ergonomics and the capability of its master device to correctly interface the user with the slave robot. Master manipulators generating commands in task space represent a commonly adopted solution for controlling a range of slave robots while retaining an ergonomic design. However, these devices present several drawbacks, such as requiring the use of clutching mechanics to compensate for the mismatch between slave and master workspaces, and the lack of capability to intuitively transmit important information such as specific joint limits to the user. In this paper, a novel joint-space master manipulator is presented. This manipulator emulates the kinematic structure of highly flexible surgical instruments which it is designed to control. This system uses 6 active degrees of freedom to compensate for its own weight, as well as to provide force feedback corresponding to the slave robot's joint limits. A force/torque sensor integrated at the end effector is used to relay user-generated forces and torques directly to specific joints. This is performed to counteract the friction stemming from structural constraints imposed by the kinematic design of the instruments. Finally, a usability study is carried out to test the validity of the system, proving that the instruments can be intuitively controlled even at the extremities of the workspace.

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Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy

et al. 2018

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Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes.

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A new single-port robotic system based on a parallel kinematic structure

Cited by 9 publications

References 8 publications

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Master manipulator designed for highly articulated robotic instruments in single access surgery

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy

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