Design and Realization of a Robotic Manipulator for Minimally Invasive Surgery With Replaceable Surgical Tools

Nisar, Sajid; Hameed, Asad; Kamal, Nabeel; Hasan, Osman; Matsuno, Fumitoshi

doi:10.1109/tmech.2020.2991869

Cited by 8 publications

(9 citation statements)

References 27 publications

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“…Nisar et al. enlarged the reachable workspace of the RCM manipulator by designing a titled pitch axis, but the design focuses on optimising manipulability 25 . Compared with the methods mentioned above, simulation results indicate that the developed RCM manipulator improves the reachable workspace inside the abdominal cavity, the flexibility of the workspace, kinematic performance, and compactness.…”

Section: Discussionmentioning

confidence: 99%

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Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

Huang,

Sang,

Liu

et al. 2023

Robotics Computer Surgery

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BackgroundWith the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles.MethodsA multi‐objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator. An inverse kinematic solution method is proposed to meet task accuracy and kinematic singularity avoidance constraints for safety motion control.ResultsSimulation results demonstrate that there are significant improvements in the reachable workspace inside the abdominal cavity, the flexibility of the workspace, kinematic performance, and compactness of the RCM manipulator. Experiments verify the feasibility of the prototype and the validity of the proposed inverse kinematic solution method.ConclusionsThis enhances the adaptability and safety of the RCM manipulator and provides potential prospects for MIS application.

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Section: Discussionmentioning

confidence: 99%

“…It does so by a titled yaw axis, as illustrated in Figure 1B. 25 Here, the problem of the reachable workspace inside the abdominal cavity being restricted by the location of the incision is addressed, which is undesired for MIS. This reduces the key ability of the RCM manipulator.…”

Section: The Rcm Manipulators Based On the Parallelogram Mechanismmentioning

confidence: 99%

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

Huang,

Sang,

Liu

et al. 2023

Robotics Computer Surgery

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“…In the future, we will conduct experiments on animals to further explore the feasibility of the method and the accuracy of puncture, and comparative experiments will be conducted with commercial breath‐hold monitoring systems such as Interactive Breath Hold Control System to evaluate the performance of our robotic device. In addition, a quick‐release mechanism will be designed to achieve fast and easy needle release from the robot after the needle is inserted to the target location, 34 and the distal puncture mechanism will be optimized to meet the clinical sterilization requirement 35 . In our workflow, the robotic arm is controlled to automatically place the needle tip at the skin entry position and angle it towards the target, and then the distal puncture mechanism is commanded to automatically advance the needle.…”

Section: Discussionmentioning

confidence: 99%

“…In addition, a quick-release mechanism will be designed to achieve fast and easy needle release from the robot after the needle is inserted to the target location, 34 and the distal puncture mechanism will be optimized to meet the clinical sterilization requirement. 35 In our workflow, the robotic arm is controlled to automatically place the needle tip at the skin entry position and angle it towards the target, and then the distal puncture mechanism is commanded to automatically advance the needle.…”

Section: F I G U R Ementioning

confidence: 99%

Automatic registration and precise tumour localization method for robot‐assisted puncture procedure under inconsistent breath‐holding conditions

Lei

Tang

Zhang

et al. 2021

Robotics Computer Surgery

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Background: During percutaneous puncture procedure, breath holding is subjectively controlled by patients, and it is difficult to ensure consistent tumour position between the preoperative CT scanning phase and the intraoperative puncture phase. In addition, the manual registration process is time-consuming and has low accuracy. Methods:We have proposed an automatic registration method using optical markers and a tumour breath-holding position estimation model based on the support vector regression algorithm. A robot system and a tumour respiratory motion simulation platform are built to perform puncture tests under different breath-holding states. Results:The experimental results show that automatic registration has higher accuracy than manual registration, and with the tumour breath-holding position estimation model, the targeting accuracy of puncture under inconsistent breathholding conditions is greatly improved. Conclusions:The proposed automatic registration and tumour breath-holding position estimation model can improve the accuracy and efficiency of puncture under inconsistent breath-holding conditions.

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“…The method of operating the joint of the surgical robot includes a direct motor connection method for the joint and a wire-driven method for transmitting wire power outside the motor. The wire-driven method is mainly divided into full-body wearable robots and partial wearable robots in the field of rehabilitation treatment [23,24]. This is because the angle of the robot joint is free to change.…”

Section: Introductionmentioning

confidence: 99%

Coupling Effect Suppressed Compact Surgical Robot with 7-Axis Multi-Joint Using Wire-Driven Method

2022

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Currently, the most prevalent surgical treatment method is laparoscopic surgery. Robotic surgery has many advantages over laparoscopic surgery. Therefore, robotic surgery technology is currently constantly evolving. The advantages of robotic surgery are that it can minimize incision, bleeding, and sequelae. Other advantages of robotic surgery are that it can reduce hospitalization, recovery period, and side effects. The appeal of robotic surgery is that it requires fewer surgical personnel compared to laparoscopic surgery. This paper proposes an ultra-compact 7-axis vertical multi-joint robot that employs the wire-driven method for minimally invasive surgery. The proposed robot analyzes the degree of freedom and motion coupling for control. The robot joint is composed of a total of seven joints, and among them, the 7-axis joint operates the forceps. At this time, the forceps joint (#7 axis) can only operate open and close functions, while the link is bent and rotatable, regardless of position change. This phenomenon can be analyzed by Forward Kinematics. Also, when the DOF rotates, the passing wires become twisted, and the wire is generated through length change and coupling phenomenon. The maximum rotation angle of DOF is 90° and the rotating passing wire is wound by the rotation of the wire pulley. If the DOF is rotated to the full range of 120°, the second DOF will be rotated to 90°, and at this time, the coupling phenomenon caused by the first DOF rotation can be eliminated. The length change and the robot joint angle change related to the motor drive, based on the surgical robot control using the wire-driven method, are correlated, and the values for the position and direction of the end effector of the robot can be obtained through a forward kinematic analysis. The coupling problem occurring in the wire connecting the robot driving part can be solved through a kinematic analysis. Therefore, it was possible to test the position of the slave robot and the performance of the surgical forceps movement using the master system.

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Design and Realization of a Robotic Manipulator for Minimally Invasive Surgery With Replaceable Surgical Tools

Cited by 8 publications

References 27 publications

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

Automatic registration and precise tumour localization method for robot‐assisted puncture procedure under inconsistent breath‐holding conditions

Coupling Effect Suppressed Compact Surgical Robot with 7-Axis Multi-Joint Using Wire-Driven Method

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