An Automated Extracorporeal Knot-tying System Using Two Concentric Tube Robotic Arms for Deployment through a 3-mm Port

Farooq, Muhammad Umar; Ko, Seong Young

doi:10.1007/s12555-018-0424-z

Cited by 18 publications

(3 citation statements)

References 19 publications

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“…Arithmetic average filtering needs to collect N continuous data when determining the sampling value. is method has a slower detection time and is not suitable for high-frequency data input [24]. Moving average filtering is suitable for high-frequency input systems.…”

Section: Digital Filtering Methods To Deal With Small Fluctuations In mentioning

confidence: 99%

Robotic Arm Control System Based on AI Wearable Acceleration Sensor

Chen

Zhao

2021

Mathematical Problems in Engineering

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The position of mechanical arm in people’s life is getting higher and higher. It replaces the function of human arm, moving and moving in space. Generally, the structure is composed of mechanical body, controller, servo mechanism, and sensor, and some specified actions are set to complete according to the actual production requirements. The manipulator has flexible operation, good stability, and high safety, so it is widely used in industrial automation production line. With the development of science and technology, many practical production requirements for the function of the manipulator are more and more refined, especially in the high-end research field. For example, medical devices, automobile manufacturing, deep-sea submarines, and space station maintenance put forward higher requirements for it. In terms of miniaturization and precision, it can meet the needs of scientific research and actual production. But these are inseparable from the motion control system technology. This paper mainly introduces the research of manipulator control system based on AI wearable acceleration sensor, aiming to provide some ideas and directions for the research of wearable manipulator. This paper presents the research method of manipulator control system based on AI wearable acceleration sensor, including the establishment of manipulator kinematics model, common filtering algorithm, and PI algorithm of speed control system. It is used for the research and experiment of manipulator control system based on AI wearable acceleration sensor. The experimental results show that the average matching rate of the manipulator control system based on AI wearable acceleration sensor is as high as 88.89%, and the stability of the feature descriptor is high.

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Section: Digital Filtering Methods To Deal With Small Fluctuations In mentioning

confidence: 99%

Robotic Arm Control System Based on AI Wearable Acceleration Sensor

Chen

Zhao

2021

Mathematical Problems in Engineering

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“…However, the drawbacks of electric heating are: (1) the requirement for a specific setup, which has some hardware limitations (2) tuning and calibrating the system to match the tube-specific transition temperature is challenging, and (3) the uneven thermal gradient/expansion along the tube can result in undesirable distorted shapes near the clamped ends [114]. Despite the high cost and inefficiency, the most commonly used approach is still the furnace heating technique, as recorded in 24 papers [35], [46], [62], [70], [81]- [83], [90], [120]- [135], as compared to the electric heating with only 6 papers [11], [114], [136]- [139], while both approaches are recorded in [80], [119], [140].…”

Section: B Tube Fabricationmentioning

confidence: 99%

Design and Fabrication of Concentric Tube Robots: A Survey

et al. 2023

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Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small size, flexibility, and high dexterity enable several potential benefits for MIS. Research has led to an increasing number of discoveries and scientific breakthroughs in CTR design, fabrication, control, and applications. Numerous prototypes have emerged from different research groups, each with their own design and specifications. This survey paper provides an overview of the state-of-the-art of the mechatronics aspects of CTRs, including approaches for the design and fabrication of the tubes, actuation unit, and end effector. In addition to the various hardware and associated fabrication methods, we propose to the research community, a unifying way of classifying CTRs based on their actuation unit architecture, as well as a set of specification details for evaluation of future CTR prototypes. Finally, we also aim to highlight the current advancements, challenges, and perspectives of CTR design and fabrication.

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“…These include reduced workspace, low ergonomics and dexterity, the triangulation effect of instruments, and surgeon's hand tremors. To address these drawbacks and enhance single-incision laparoscopic surgery, several robotic systems have been developed and described in [16][17][18][19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Safety Issues in the Development of an Innovative Medical Parallel Robot Used in Renal Single-Incision Laparoscopic Surgery

Pîslă

Crişan

Gherman

et al. 2023

JCM

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Robotic-assisted single-incision laparoscopic surgery (SILS) is becoming an increasingly widespread field worldwide due to the benefits it brings to both the patient and the surgeon. The goal of this study is to develop a secure robotic solution for SILS, focusing specifically on urology, by identifying and addressing various safety concerns from an early design stage. Starting with the medical tasks and protocols, the technical specifications of the robotic system as well as potential; hazards have been identified. By employing competitive engineering design methods such as Analytic Hierarchy Process (AHP), Risk assessment, and Failure Mode and Effects Analysis (FMEA), a safe design solution is proposed. A set of experiments is conducted to validate the proposed concept, and the results strongly support the development of the experimental model. The Finite Element Analysis (FEA) method is applied to validate the mechanical architecture within a set of simulations, demonstrating the compliance of the robotic system with the proposed technical specifications and its capability to safely perform SILS procedures.

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An Automated Extracorporeal Knot-tying System Using Two Concentric Tube Robotic Arms for Deployment through a 3-mm Port

Cited by 18 publications

References 19 publications

Robotic Arm Control System Based on AI Wearable Acceleration Sensor

Robotic Arm Control System Based on AI Wearable Acceleration Sensor

Design and Fabrication of Concentric Tube Robots: A Survey

Safety Issues in the Development of an Innovative Medical Parallel Robot Used in Renal Single-Incision Laparoscopic Surgery

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