A robotic laparoscopic tool with enhanced capabilities and modular actuation

Dai, Zhengchen; Wu, Zhonghao; Zhao, Jiangran; Xu, Kai

doi:10.1007/s11431-018-9348-9

Cited by 11 publications

(3 citation statements)

References 34 publications

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“…In order to keep its flexibility, avoid excessive strain, and ensure enough axial bearing capacity to avoid buckling, the height of the flexible beam ‘ a ’ is set to 0.4 mm while considering the difficulty of machining. It should be noted that the value of ‘ a ’ can be increased when the robot is required to have large stiffness 23 …”

Section: Overall Structural Design and Components Descriptionsmentioning

confidence: 99%

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Design and analysis of a continuum robot for transnasal skull base surgery

Wei

Zhang

et al. 2021

Robotics Computer Surgery

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Background:The traditional surgical instruments for transnasal endoscopic skull base surgery have poor flexibility and continuum robot has attracted extensive attention for its high dexterity and safety.Methods: A new type of micro continuum surgical robot is designed. On the basis of kinematic analysis, a superposition method is proposed to analyse the reachable configuration space of the system, and the workspace is analysed. The results obtained by superposition method can provide reference for the selection of joint parameters. At last, the static model of the system is established considering friction and coupling between two segments. Results:The simulation results show that the workspace can meet the requirements of surgery. And the validity of the static model is verified by numerical simulation and experiment, which lays a foundation for the establishment of the driving force transmission system and precise control of the robot. Conclusions:The research results of this study contribute to the real-time control and movement of robot. The proposed continuum robot provides convenient conditions for the clinical application.

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Section: Overall Structural Design and Components Descriptionsmentioning

confidence: 99%

“…It should be noted that the value of 'a' can be increased when the robot is required to have large stiffness. 23…”

Section: Overall Structural Design and Components Descriptionsmentioning

confidence: 99%

Design and analysis of a continuum robot for transnasal skull base surgery

Wei

Zhang

et al. 2021

Robotics Computer Surgery

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“…Olympus Medical, Japan, developed a flexible endoscope whose bending motion is controlled by a set of wires (Zhang et al, 2011). Based on this, several flexible instruments and endoscopes have been developed by related organizations in Berkelman and Ma (2009), Ding et al (2012), Dai et al (2019), and Kanno et al (2014). A flexible laparoscopic robot was proposed which can capture images flexibly in Tewari et al (2013).…”

Section: Introductionmentioning

confidence: 99%

Development of a flexible endoscopic robot with autonomous tracking control ability using machine vision and deep learning

Qian,

Zhang,

Pei

et al. 2024

Mech. Sci.

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Abstract. A flexible endoscopic robot is designed to solve the problem that it is difficult for auxiliary doctors to maintain a stable visual field in traditional endoscopic surgery. Based on geometric derivation, a motion control method under the constraint of the remote center motion (RCM) of the robot system is established, and a set of circular trajectories are planned for it. The RCM error of the robot during operation and the actual trajectory of the robot end in three-dimensional space are obtained through the motion capture system. The end of the robot is controlled by the heterogeneous primary–secondary teleoperation control algorithm based on position increments. Finally, the RTMDet deep learning object detection algorithm was selected to identify and locate surgical instruments through comparative experiments, and the autonomous tracking control was completed based on visual guidance. In the process of autonomous tracking, the RCM error was less than 1 mm, which met the actual surgical requirements.

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