Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator

Orekhov, Andrew L.; Black, Caroline Bryson; Till, John; Chung, Scotty; Rucker, D. Caleb

doi:10.1109/lra.2016.2525720

Cited by 63 publications

(33 citation statements)

References 18 publications

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“…A 12 mm diameter parallel continuum manipulator with a 2-DoF grasper has been presented. 150 These new design concepts remain to be validated and tested in clinical application scenarios.…”

Section: Transanal Systemsmentioning

confidence: 99%

Snake-Like Robots for Minimally Invasive, Single-Port, and Intraluminal Surgeries

Orekhov

Abah

Simaan

2018

The Encyclopedia of Medical Robotics

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The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid instruments to robot-assisted surgery. In the last decade, the increasing demand for new surgical paradigms to enable access into the anatomy without skin incision (intraluminal surgery) or with a single skin incision (Single Port Access surgery -SPA) has led researchers to investigate snake-like flexible surgical devices. In this chapter, we first present an overview of the background, motivation, and taxonomy of MIS and its newer derivatives. Challenges of MIS and its newer derivatives (SPA and intraluminal surgery) are outlined along with the architectures of new snake-like robots meeting these challenges. We also examine the commercial and research surgical platforms developed over the years, to address the specific functional requirements and constraints imposed by operations in confined spaces. The chapter concludes with an evaluation of open problems in surgical robotics for intraluminal and SPA, and a look at future trends in surgical robot design that could potentially address these unmet needs.

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“…A 12 mm diameter parallel continuum manipulator with a 2-DoF grasper has been presented. 150 These new design concepts remain to be validated and tested in clinical application scenarios.…”

Section: Transanal Systemsmentioning

confidence: 99%

Snake-Like Robots for Minimally Invasive, Single-Port, and Intraluminal Surgeries

Orekhov

Abah

Simaan

2018

The Encyclopedia of Medical Robotics

Self Cite

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“…For instance, one of the rare studies found a precision of about 1 mm for a serial continuum robot [18]. In addition, Orekhov et al [19] proposed a surgical Parallel Continuum Manipulator with a large workspace and a precision of 0.88 mm in position and 1.96 deg in rotation. Black et al [20] studied the pros and cons of Parallel Continuum Robots (PCR) and pointed out that an analysis of their performance was still needed.…”

Section: Introductionmentioning

confidence: 99%

Nanometer Precision With a Planar Parallel Continuum Robot

Mauzé

Dahmouche

Laurent

et al. 2020

IEEE Robot. Autom. Lett.

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In many cases, soft and continuum robots represent an interesting alternative to articulated robots because they have the advantages of miniaturization capability, safer interactions with humans and often simpler fabricating and integration. However, these benefits are usually considered to arise at the expense of accuracy and precision because of the soft or flexible limbs. This paper demonstrates that, with a proper design, a planar parallel continuum robot is capable of great precision. Indeed, the proposed 3-Degrees-of-Freedom planar parallel continuum robot exhibits a precision of 9.13 nm in position and 1.2 µrad in orientation. In addition, the novel robotic design leverages the effect of the actuators' defects, making the robot more precise than its own actuators. Finally, the workspace of the proposed robot (62.3 mm 2 , 0.6452 rad) is significantly larger than most compliant mechanisms, which is particularly interesting when both very high precision and relatively large displacements are required.

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“…In addition, autonomous navigation would require a method for registering to patient anatomy, and the extra equipment and clinical imaging this would require would be prohibitively expensive for low-resource settings. Teleoperation methods have been presented in literature for various continuum manipulator morphologies [11], [12] and applied to endoluminal procedures [13]. Many of the presented methods utilize the resolved motion rate approach to send Cartesian space commands to the manipulator's end effector [14], which is the approach we take in this work.…”

Section: Introductionmentioning

confidence: 99%

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

Campisano

Remirez

Landewee

et al. 2020

IEEE Robot. Autom. Lett.

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Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator

Cited by 63 publications

References 18 publications

Snake-Like Robots for Minimally Invasive, Single-Port, and Intraluminal Surgeries

Snake-Like Robots for Minimally Invasive, Single-Port, and Intraluminal Surgeries

Nanometer Precision With a Planar Parallel Continuum Robot

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

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