A Pneumatically Driven Surgical Manipulator With a Flexible Distal Joint Capable of Force Sensing

Haraguchi, Daisuke; Kanno, Takahiro; Tadano, Kin‐ichi; Kawashima, Kenji

doi:10.1109/tmech.2015.2415838

Cited by 70 publications

(51 citation statements)

References 18 publications

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“…There are three kinds of combinations of the second and third axis for clinical use articulated forcipes of laparoscopic surgery [7,10,[15][16][17]. Also, the prototype models of wrist mechanisms for articulated forceps [8,9,[11][12][13][14][18][19][20][21][22][23][24][25] can be classified by the same three configurations. The three configurations of the second and third axes are as follows and showed in Fig.…”

Section: Configuration Of the Degrees Of Freedommentioning

confidence: 99%

“…C. Two curvature axes for up/down and right/left motions using joint ring, linkage, and spring, among others. This category includes parallel mechanism [16][17][18][21][22][23][24][25].…”

Section: Configuration Of the Degrees Of Freedommentioning

confidence: 99%

“…C. Since the posture is determined by bending motions, the offset of both bending mechanisms tends to be very large. The singularity configuration is not even close to the standard working posture [16][17][18][21][22][23][24][25].…”

Section: A B Cmentioning

confidence: 99%

“…Haraguchi et al [18] also proposed a flexible bending joint and wire drive mechanism using a spring for the joint. The bending mechanisms using flexible joint are very simple.…”

Section: Introductionmentioning

confidence: 99%

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Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Jinno

2018

Robomech J

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Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopic surgery is the restriction of free motion of the forceps because of the limited degrees of freedom by the trocar. Recently, many master-slave manipulators with articulated forceps have been used in laparoscopic surgery to solve this problem. The wrist mechanism of an articulated forceps affects the controllability and range of motion of a slave manipulator in a patient's abdominal cavity. Therefore, it is important to improve upon the wrist mechanism of articulated forceps for robot-assisted laparoscopic surgery. This paper aims to propose a new wrist mechanism for articulated forceps to be used in laparoscopic surgery. The degrees of freedom of the proposed design are three motor-driven axes that use wires and pulleys (a pitch axis, yaw axis, and gripper axis) and a roll axis driven by manual rotation of the forceps shaft. In the proposed mechanism, the offset distance between the pitch and yaw axes was reduced. The offset value, i.e., 5.95 mm, is shorter than the maximum outer diameter 7.5 mm of the wrist mechanism. Singularity configurations of the wrist axes are avoided near the standard working posture by configuring the pitch and yaw axis. There are few parts and it is simple as compared to the previously developed clinical use robotic forceps. Furthermore, the effectiveness of the proposed mechanism was verified by tests. The range of pitch motion is ± 90°, yaw motion is ± 85° (or ± 90°), and gripper motion is 60° (or 50°). The transmission efficiencies are from about 55 to 75%. The grasping force and torque are more than 5 N and 70 mNm.

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Section: Configuration Of the Degrees Of Freedommentioning

confidence: 99%

“…C. Two curvature axes for up/down and right/left motions using joint ring, linkage, and spring, among others. This category includes parallel mechanism [16][17][18][21][22][23][24][25].…”

Section: Configuration Of the Degrees Of Freedommentioning

confidence: 99%

Section: A B Cmentioning

confidence: 99%

“…Haraguchi et al [18] also proposed a flexible bending joint and wire drive mechanism using a spring for the joint. The bending mechanisms using flexible joint are very simple.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Jinno

2018

Robomech J

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“…As described in reference [16], Tadano et al have developed a four degree-of freedom pneumatic-driven surgical instrument that has force detecting capability as shown in Fig. 3 (a).…”

Section: Pressure-based Force Detectionmentioning

confidence: 99%

Overview on Force Sensing Techniques in Robot-assisted Minimally Invasive Laparoscopic Surgery

Wang¹,

Wang²,

Lee³

2017

dtcse

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Abstract. Detection of interaction force between soft tissue and surgical instrument and perception of biomechanical property of tissue are imperative for reducing operation time and the risk of surgeon mistake. However, in Robot-assisted minimally invasive laparoscopic surgery (MILS), the surgeon's ability of perceiving valuable haptic information by manipulating the surgical robot system is severely impaired. In order to improve this ability of surgical robot, many university laboratories and research institutions have been committing to designing force sensor and developing force sensing techniques. According to a literature search work, which was performed within the publications of about twenty laboratories and research institutions working on surgical robot developing, this article attempts to summarize the force sensing techniques, force sensors and provide technical suggestions for the future development of force sensing for Robot-assisted MILS.

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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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A Pneumatically Driven Surgical Manipulator With a Flexible Distal Joint Capable of Force Sensing

Cited by 70 publications

References 18 publications

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Overview on Force Sensing Techniques in Robot-assisted Minimally Invasive Laparoscopic Surgery

Continuum Robots: An Overview

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