Concentric agonist-antagonist robots for minimally invasive surgeries

Oliver-Butler, Kaitlin; Epps, Zane H.; Rucker, D. Caleb

doi:10.1117/12.2255549

Cited by 11 publications

(9 citation statements)

References 8 publications

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“…Morimoto and Okamura [71] 2016 Minimally invasive procedure U-GP Oliver-Butler et al [67] 2017 Endoscopic procedure U-GP Jelínek et al [60] 2014 Minimally invasive surgery U-GP Jelínek et al [61] 2015 Minimally invasive surgery U-GP Jelínek et Breedveld [62] 2015 Minimally invasive surgery U-GP Qi et al [72] 2016 Minimally invasive surgery U-GP Amanov et al [73] 2015 Minimally invasive surgery U-GP Boehler et al [79] 2016 MR-guided percutaneous procedure U-GP Entsfellner et al [80] 2014 Ear Nose Throat (ENT) surgery U-GP Krieger et al [76] 2017 Endoscopic surgery U-GP Mintenbeck et al [68] 2014 Minimally invasive surgery U-GP Cortes-Rodicio et al [81] 2017 PET-guided biopsy U-GP Seneci et al [63] 2015 Laparoscopic surgery U-GP Coemert et al [78] 2017 Minimally invasive surgery U-GP Nowell et al [74] 2017 Endonasal surgery U-GP Roppenecker et al [70] 2013 Single-port gastroenterology surgery U-GP Kesner and Howe [83] 2011 Force measurement in catheter U-GP Roppenecker et al [77] 2012 Single port surgery U-GP Seneci et al [64] 2017 General surgery U-GP Schmitz et al [75] 2017 General surgery U-GP Sakes et al [65] 2018 Minimally invasive surgery U-GP Sahlabadi et al [66] 2017 Percutaneous intervention U-GP Fontanelli et al [84] 2017 Minimally invasive robotic surgery U-GP Kim et al [69] 2015 Neurosurgery U-GP García et al [85] 2018 Trans-anal endoscopic procedure U-GP Saafi et al [82] 2018 Laparoscopic surgery U-GP Zizer et al [86] 2016 Endoscopic submucosal dissection U-SP Chen et al [87] 2016 Cervical intraepithelial neoplasia U-SP Krieger et al [88] 2016 Partial nephrectomy U-SP Epaminonda et al [89] 2016 Cervical cancer U-SP Menikou et al [90] 2017 Pain palliation bone cancer U-SP Peikari et al [91] 2011 Transrectal brachytherapy U-SP Maeda et al…”

Section: Author(s) Publication Year Clinical Application Classificationmentioning

confidence: 99%

“…Many research groups focused their work on new designs for continuum robots and manipulators [67][68][69][71][72][73][74][75]. Morimoto et al [71], Oliver-Butler et al [67], and Amanov et al [73] proposed concentric tube structures based on the sliding motion of one tube into the other to achieve a snake-like motion (Fig. 5b).…”

Section: Unconventional General-purpose Instrumentsmentioning

confidence: 99%

“…5. Examples of "unconventional general purpose" instruments: (a) steerable laparoscopic grasper with seven degrees of freedom; (b) 3D printed concentric tube robot [67]; (c) cable-driven continuum robot [68]; (d) the snake-like system presented by Kim et al [69]; (e) different structures of the overtube presented by professor Lueth's group [70].…”

Section: Unconventional General-purpose Instrumentsmentioning

confidence: 99%

See 2 more Smart Citations

Additive manufacturing of medical instruments: A state-of-the-art review

Culmone

Smit

Breedveld

2019

Additive Manufacturing

198

119

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Additive manufacturing, also known as 3D printing, has begun to play a significant role in the field of medical devices. This review aims to provide a comprehensive overview and classification of additively manufactured medical instruments for diagnostics and surgery by identifying medical and technical aspects. Methods: A scientific literature search on additively manufactured medical instruments was conducted using the Scopus database. Results: We categorized the relevant articles ( 71) by considering the novelty of each proposed instrument and its clinical application. Then, we analyzed the relevant articles by examining the reasons behind choosing additive manufacturing technology to produce instruments for diagnostics and surgery. Possible customization (27%) and Cost-effectiveness (23%) were the main reasons expressed. Technical specifications of the additive manufacturing technology and the material used were also analyzed, and a tendency of using material extrusion technology (35% of the applications) and polymeric materials (86% of the applications) was shown. Conclusions: Additive manufacturing is opening the door to a new approach in the production of medical devices, which allows the complexity of their designs to be pushed to the extreme. However, we found that technical limitations need to be tackled and important aspects such as sterilization or debris contamination are still not considered to be relevant factors during the design and fabrication process. Keeping in mind the challenges of such a new field, additive manufacturing technology can be considered as a great opportunity to provide easy access to healthcare in developing countries as well as an important step toward patient-specific medicine.

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Section: Author(s) Publication Year Clinical Application Classificationmentioning

confidence: 99%

Section: Unconventional General-purpose Instrumentsmentioning

confidence: 99%

Section: Unconventional General-purpose Instrumentsmentioning

confidence: 99%

See 1 more Smart Citation

Additive manufacturing of medical instruments: A state-of-the-art review

Culmone

Smit

Breedveld

2019

Additive Manufacturing

198

119

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“…Limited stiffness of the current PBA does not allow passing a tool to the tip; however, the insufflation channel at the base of the PBA can be modified for delivering tools. Through coupling a modified version of the device with a steerable biopsy tool, such as the one proposed by [52], or with more specific tool such as a cryogenic balloon for treatment of Barrett's esophagus [53], the DCE may be enabled to perform biopsy or therapeutic procedures.…”

Section: Discussionmentioning

confidence: 99%

Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy

Garbin

Wang²,

Chandler³

et al. 2019

IEEE Trans. Biomed. Eng.

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This paper introduces a methodology to design intuitive, low-cost, and portable devices for visual inspection of the upper gastrointestinal tract. Methods: The proposed approach mechanically couples a multi-backbone continuum structure, as the user interface, and a parallel bellows actuator, as the endoscopic tip. Analytical modeling techniques derived from continuum robotics were adopted to describe the endoscopic tip motion from user input, accounting for variations in component size and pneumatic compressibility. The modeling framework was used to improve intuitiveness of user-to-task mapping. This was assessed against a 1:1 target, while ease-of-use was validated using landmark identification tasks performed in a stomach simulator by one expert and ten non-expert users; benchmarked against conventional flexible endoscopy. Pre-clinical validation consisted of comparative trials in in-vivo porcine and human cadaver models. Results: Target mapping was achieved with an average error of 5 • in bending angle. Simulated endoscopies were performed by an expert user successfully, within a time comparable to conventional endoscopy (<1 minute difference). Non-experts using the proposed device achieved visualization of the stomach in a shorter time (9s faster on average) than with a conventional endoscope. The estimated cost is <10 USD and <30 USD for disposable and reusable parts, respectively. Significance and Conclusions: Flexible endoscopes are complex and expensive devices, actuated via non-intuitive cable-driven mechanisms. They frequently break, requiring costly repair, and necessitate a dedicated reprocessing facility to prevent cross contamination. The proposed solution is portable, inexpensive, and easy to use, thus lending itself to disposable use by personnel without formal training in flexible endoscopy.

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“…The kinematic model is obtained through the assumption of constant curvature. Oliver-Butler et al [7] developed a concentric tube continuum manipulator that is nested and pushed together. The continuum manipulator is bent by the push-pull of nested tubes and the kinematic modeling is established using the assumption of constant curvature.…”

Section: Introductionmentioning

confidence: 99%

Variable Stiffness Model Construction and Simulation Verification of Coupled Notch Continuum Manipulator

Wang

Yang

et al. 2019

IEEE Access

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The continuum manipulators, which have gradually become a research hotspot of minimally invasive surgery have the characteristics of small size, lightweight, and better environmental adaptability. In this paper, a two degrees of freedom continuum manipulator with notches is proposed. The kinematic and mechanical models of the notch continuum manipulator are coupled. The output driving force of the motor is needed to control the manipulator. Due to the drift of the current of the motor, the accuracy of the control is low. In order to solve the above problem, the constant curvature assumption is realized by changing the structural parameters of the notches. The continuum manipulator mechanics model is established through the analysis of the continuum manipulator structure. The calculation of the deformation angle of a single notch of the manipulator is carried out. The overall deformation of the manipulator is derived through iterative algorithms. The stiffness of the continuum manipulator, which can affect the deformation of the continuum manipulator is modified by changing the structural parameters. In this way, the problem of the non-constant curvature deformation under the uniform notch of the continuum manipulator is improved. And the effectiveness of the variable stiffness model is verified by simulation experiments.

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Concentric agonist-antagonist robots for minimally invasive surgeries

Cited by 11 publications

References 8 publications

Additive manufacturing of medical instruments: A state-of-the-art review

Additive manufacturing of medical instruments: A state-of-the-art review

Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy

Variable Stiffness Model Construction and Simulation Verification of Coupled Notch Continuum Manipulator

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