Advanced User Interfaces for Teleoperated Surgical Robotic Systems

Nguyễn, Chí Công; Wong, Shing Wai; Thai, Mai Thanh; Hoang, Trung Thien; Phan, Phuoc Thien; Davies, James; Wu, Liao; Tsai, David; Phan, Hoang‐Phuong; Lovell, Nigel H.; Nho, Thanh

doi:10.1002/adsr.202200036

Cited by 9 publications

(1 citation statement)

References 280 publications

(403 reference statements)

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“…At the stage of bioprinting, another main challenge for robotic surgery is the lack of real-time position feedback, which may cause collisions between surgical tools and tissues. Recently, surgical systems equipped with advanced positioning, sensing, and feedback systems have been used to improve real-time correction and minimize error [195,208,209]. In addition, AI has been utilized in medical applications and 3D printing in both virtual and physical aspects [210,211].…”

Section: Next Generation Robotic Surgical Systemsmentioning

confidence: 99%

Robotic in situ bioprinting for cartilage tissue engineering

Wang

Pereira

Peach

et al. 2023

Int. J. Extrem. Manuf.

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Articular cartilage damage caused by trauma or degenerative pathologies such as osteoarthritis can result in significant pain, mobility issues, and disability. Current surgical treatments have a limited capacity for efficacious cartilage repair, and long-term patient outcomes are not satisfying. Three-dimensional (3D) bioprinting has been used to fabricate biochemical and biophysical environments that aim to recapitulate the native microenvironment and promote tissue regeneration. However, conventional in vitro bioprinting has limitations due to the challenges associated with the fabrication and implantation of printed constructs and integration with the native cartilage tissue. In situ bioprinting is a novel strategy to directly deliver bioinks to the desired anatomical site and has the potential to overcome major shortcomings associated with conventional bioprinting. In this review, we focus on the new frontier of robotic-assisted in situ bioprinting surgical systems for cartilage regeneration. We outline existing clinical approaches and the utilisation of robotic-assisted surgical systems. Handheld and robotic-assisted in situ bioprinting techniques including minimally invasive and non-invasive approaches are defined and presented. Finally, we discuss the challenges and potential future perspectives of in situ bioprinting for cartilage applications.

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Section: Next Generation Robotic Surgical Systemsmentioning

confidence: 99%

Robotic in situ bioprinting for cartilage tissue engineering

Wang

Pereira

Peach

et al. 2023

Int. J. Extrem. Manuf.

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Soft Wearable Haptic Display and Flexible 3D Force Sensor for Teleoperated Surgical Systems

Thai,

Davies,

Nguyen

et al. 2023

Advanced Sensor Research

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Haptic (touch) is important for effective interaction with the surroundings. In teleoperated surgical systems, its absence leads to reduced perception, making delicate tasks difficult and resulting in unexpected damage to surrounding tissues. To enhance safety, a force‐feedback system and haptic device are needed. However, existing haptic prototypes are associated with rigid, bulky, and heavy components, making effective communication with the skin problematic. This paper presents a teleoperated endoscopic surgical system with an integrated 3D force sensor and real‐time haptic feedback. A surgical robotic arm is remotely controlled by a soft haptic glove incorporated 3‐axis cutaneous device and a finger kinesthetic module. The 3D force sensor is constructed from hydraulic filament soft sensors that can induce pressure change under strain. To enable precise motion, the haptic glove is operated by a feedforward controller and a master‐slave architecture. Experiments with human subjects (n = 15) show that cutaneous and kinesthetic feedback significantly improves the user's performance (9.4 out of 10) compared to no haptic feedback (2.27 out of 10). Finally, subjects rank the new system as highly wearable, comfortable, and effective, which is expected to bridge a gap in the surgical field and support the future development of advanced teleoperated systems.

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Shape Programmable and Multifunctional Soft Textile Muscles for Wearable and Soft Robotics

Hoang,

Nguyen,

Phan

et al. 2024

Advanced Intelligent Systems

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Textiles are promising candidates for use in soft robots and wearable devices due to their inherent compliance, high versatility, and skin comfort. Planar fluidic textile‐based actuators exhibit low profile and high conformability, and can seamlessly integrate additional components (e.g., soft sensors or variable stiffness structures [VSSs]) to create advanced, multifunctional smart textile actuators. In this article, a new class of programmable, fluidic soft textile muscles (STMs) that incorporate multilayered silicone sheets with embedded fluidic channels is introduced. The STMs are scalable and fabricated by apparel engineering techniques, offering a fabrication approach able to create large‐scaled multilayered structures that can be challenging for current microfluidic bonding methods. They are also highly automation compatible due to no manual insertion of elastic tubes/bladders into textile structures. Liquid metal is employed for creating fluidic channels. It is not only used for actuation but also used as channels for additional features such as soft piezoresistive sensors with enhanced sensitivity to STMs’ pressure‐induced elongation, or VSSs of either low‐melting‐point alloys or a new thermo‐responsive epoxy with low viscosity and transition temperature. The STMs hold promising prospects for soft robotic and wearable applications, which is demonstrated by an example of a textile‐based wearable 3D skin‐stretch haptic interface.

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Advanced User Interfaces for Teleoperated Surgical Robotic Systems

Cited by 9 publications

References 280 publications

Robotic in situ bioprinting for cartilage tissue engineering

Robotic in situ bioprinting for cartilage tissue engineering

Soft Wearable Haptic Display and Flexible 3D Force Sensor for Teleoperated Surgical Systems

Shape Programmable and Multifunctional Soft Textile Muscles for Wearable and Soft Robotics

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