A Robotic System with Force Feedback for Micro-Surgery

Wang, Shuxin; Ding, Jienan; Yun, Jintian; Li, Qunzhi; Han, Baoping

doi:10.1109/robot.2005.1570119

Cited by 13 publications

(2 citation statements)

References 4 publications

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“…Several robots have been designed for microsurgery or ophthalmology such as RAMS, 18 a tele-operated micro gripper, 19 Jensen's micromanipulator, 20 and "the micro hand." 21 These robots can enhance surgeon's dexterity and reduce tremor, jerk, drift, and overshoot, properties that can be highly beneficial in middle ear surgery. However, the kinematic structure of these robots does not allow the preservation of the field of vision.…”

Section: Figure 9 Endoscopic View Of a Robot-assisted Stapedectomy In A Human Temporal Bone Specimenmentioning

confidence: 99%

From Conception to Application of a Tele-Operated Assistance Robot for Middle Ear Surgery

et al. 2011

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The authors' goal was to design and evaluate a robot dedicated to middle ear surgery. Specifications for dimensions, forces, and kinematics were collected, based on the otosclerosis procedure. The robot structure has a compact geometry with 3 linear and 3 rotatory motors. It is remotely piloted via a robot-surgeon interface under operative microscope. Ability to reach anatomical targets, to perform stapedectomy, and to place prosthesis in a model of stapedotomy was evaluated by 6 surgeons. Multiple anatomical targets in the middle ear could be successfully reached without damaging surrounding structures. The robot could be used under operative microscope with minimal visual field impairment or jointly with a 4-mm endoscope through the external auditory canal to perform stapedectomy in temporal bone specimens. Prosthesis could be inserted in the stapedotomy model. The assistance robot is the first prototype with 6 degrees of freedom, a kinematic structure, and dimensions optimized for tele-operated middle ear surgery.

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Section: Figure 9 Endoscopic View Of a Robot-assisted Stapedectomy In A Human Temporal Bone Specimenmentioning

confidence: 99%

From Conception to Application of a Tele-Operated Assistance Robot for Middle Ear Surgery

et al. 2011

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“…Despite significant advantages of these techniques, lack of the true real-time medical imaging and perhaps low resolution, or difficulty in finding exact positions of the objects in the image makes the automated closedloop control tasks difficult to tackle when fast operation is essential. Innovative force sensor instruments are alternatively implemented in which the precision and repeatability are important [11][12][13]. Durability and small sizes of force sensors have made them more promising to be operated in the clinical use, while in contrast, due to the large size of image-guided tools and their difficulty/risk in implementation such as the MRI and CT, they have confined their usage in the real-time surgery [14,15].…”

Section: Introductionmentioning

confidence: 99%

Automated boundary interaction force control of micromanipulators within situapplications to microsurgery

Eslami

Jalili

2012

J. Micromech. Microeng.

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Most recent works on miniature tasks are concentrated on developing tools to take advantage of the visual servoing feedback to control the ultra-small interaction forces. This paper spans an extensive platform for automatic controlling of boundary interaction forces with high precision in the level of micro/nano-Newton with extensive micro/nanoengineering applications such as the microsurgery. To this end, a comprehensive piezoresistive microcantilever (PMC) model considering the shear deformation and rotary inertia effects treating as the distributed-parameters model along with the Hertzian contact force is presented. The purpose of considering the Hertzian contact force model is to investigate the dynamic response of the interaction force between the microcantilever's tip and the specimen. Afterward, a control platform is introduced to automatically manipulate the PMC to follow an ideal micro/nano-interaction force. By using the integrated PMC with the micromanipulator and a digital signal processor, an intuitive programming code is written to incorporate the micromanipulator and the controller in a real-time framework. To calibrate and verify the induced voltage in the PMC, a self-sensing experiment on the piezoelectric microcantilever is carried out to warrant the calibration procedure. Some experiments are established to affirm the validity of the proposed control for the autonomous real-time tasks on the boundary interaction force control. Unlike the conventional research studies, the measured force here contributes as the feedback source in contrast to the vision feedback while force sensors possess more precision, productivity and small size. This technique has several potential applications listed but not limited to the micro/nanomanipulation, developing artificial biological systems (e.g., fabricating hydrogel for the scaffold), and medicine such as microsurgery. As a result, using the proposed platform, we are able to manipulate and control the boundary interaction forces precisely at the level of few μN and the presented theoretical and experimental results to study the mechanical responses of the interaction force are in a good agreement.

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