Design and Analysis of a Bimanual Multifunctional Robot for NOTES1

Shen, Tao; Nelson, Carl A.; Oleynikov, Dmitry

doi:10.1115/1.4033781

Cited by 3 publications

(4 citation statements)

References 5 publications

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“…The details of the robot design have been published previously. 12,13 This article presents new experimental results to show the performance of this robot. In this section, we will summarize the design and surgical method of the proposed robot.…”

Section: Methodsmentioning

confidence: 99%

“…Working volume for the inserted portion of the robot has been studied in our previous work, and robot dimensions are similar to those of robots previously used in animal and human experiments. Initial tests presented in a previous article 13 demonstrated that the robotic arm can provide sufficient force to lift and retract tissue for typical NOTES tasks; however, instrument tip forces (grasp/cut) were not evaluated.…”

Section: Methodsmentioning

confidence: 99%

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Performance of a Multifunctional Robot for Natural Orifice Transluminal Endoscopic Surgery

et al. 2018

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Natural orifice transluminal endoscopic surgery (NOTES) has gained attention as a revolutionary technique with its potential advantages in eliminating skin incisions, shortening recovery time, and decreasing postoperative complications; however, its practical application is still constrained by the complexity of navigation through the surgical field and paucity of available instruments. Current progress on NOTES focuses on designing flexible articulated robots or fully inserted bimanual robots to address the limitations. However, the lack of multitasking tools, trade-offs between size and power, and lack of sufficient surgical force are too often neglected. The authors designed a bimanual robot with a multifunctional manipulator, which can realize on-site instrument-change according to surgeon needs. An articulated drive mechanism with 2 independent curvature sections was designed to deliver the robot to the surgical site. A corresponding reconfiguration operation sequence was formulated to ease insertion and thereby decrease the design trade-off between size and power. This article presents 3 benchtop and animal tests to evaluate the robotic surgery approach and demonstrate the effectiveness of the robot.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Performance of a Multifunctional Robot for Natural Orifice Transluminal Endoscopic Surgery

et al. 2018

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“…Design efforts are primarily focused on increasing the instruments’ maneuvering potential by expanding the incorporated degrees of freedom (DOF) and by allowing for instrument triangulation [ 28 , 29 ], thereby providing the ability for bimanual task performance. Other developments include human-in-the-loop computer control schemes [ 28 , 30 , 31 ], varying actuation methods [ 27 , 32 – 34 ], alternate fabrication methods [ 35 , 36 ], integrating various functions (e.g., ultrasound) [ 32 , 37 ], and improving system properties such as stiffness [ 38 ], workspace [ 33 ], and force-transmission capabilities [ 33 ].…”

Section: Introductionmentioning

confidence: 99%

A gesture-based design tool: Assessing 2DOF vs. 4DOF steerable instrument control

et al. 2018

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Iterative prototyping is costly and time-consuming. Particularly when designing medical instruments, human factors related design choices significantly impact performance and safety. A tool is presented that allows for the evaluation of steerable instrument controls before the onset of the prototyping stage. The design tool couples gestural input to virtually simulated instrument motions using hand motion tracking. We performed a human-subject evaluation of two manual control strategies that differed in their degrees of freedom (DOF). 2DOF thumb control was compared to 4DOF thumb-index finger control. Results identified regions within the instrument workspace that are difficult to reach and showed participants to favor using the thumb for gross and fine-tuning motions at both control strategies. Index finger ab/adduction was found to be least functional. A strong learning effect was observed at 4DOF control. Based on the results, gesture-based instrument design is a viable design tool.

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“…Clinical researchers have performed NOTES using commercially available endoscopes and laparoscopes since no commercialized NOTES‐specific tool is currently available . To perform NOTES clinically, new types of surgical equipment are being developed …”

Section: Introductionmentioning

confidence: 99%

Natural orifice transluminal endoscopic surgery with a snake‐mechanism using a movable pulley

Lee

Kim

Seo

et al. 2017

Robotics Computer Surgery

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Design and Analysis of a Bimanual Multifunctional Robot for NOTES1

Cited by 3 publications

References 5 publications

Performance of a Multifunctional Robot for Natural Orifice Transluminal Endoscopic Surgery

Performance of a Multifunctional Robot for Natural Orifice Transluminal Endoscopic Surgery

A gesture-based design tool: Assessing 2DOF vs. 4DOF steerable instrument control

Natural orifice transluminal endoscopic surgery with a snake‐mechanism using a movable pulley

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