Design Evaluation of a Stabilized, Walking Endoscope Tip

Eugster, Manuela; Barros, Melanie Oliveira; Cattin, Philippe C.; Rauter, Georg

doi:10.1007/978-3-030-58104-6_15

Cited by 5 publications

(4 citation statements)

References 9 publications

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“…Once attached, it had a workspace of approximately 34 mm 2 [28]. The legs' position relative to the bone could be fixed based on a noninvasive concept, e.g., suction cups [30] or balloon catheters. The topology of the miniature parallel robot allows for repositioning of the legs' attachment on the bone and thus "walk" along the bone surface [30].…”

Section: A Micro-system-miniature Parallel Robotmentioning

confidence: 99%

“…The legs' position relative to the bone could be fixed based on a noninvasive concept, e.g., suction cups [30] or balloon catheters. The topology of the miniature parallel robot allows for repositioning of the legs' attachment on the bone and thus "walk" along the bone surface [30]. After the first evaluation with an upscaled prototype [31], a miniature parallel robot prototype was built and showed sufficient positioning accuracy with a mean error of 0.07 mm [28].…”

Section: A Micro-system-miniature Parallel Robotmentioning

confidence: 99%

See 1 more Smart Citation

Robotic Endoscope System for Future Application in Minimally Invasive Laser Osteotomy: First Concept Evaluation

Eugster

Duverney

Karnam

et al. 2022

IEEE Trans. Med. Robot. Bionics

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We are developing a robotic system for future application in minimally invasive laser osteotomy. This paper presents the mechanical system concept as a macro-milli-micro system and focuses on designing and evaluating the milli-system. The millisystem consists of an articulated tendon-driven robotic endoscope with seven rigid links with an outer diameter of 8 mm connected by six discrete rotational joints (±30 • ). These joints can be controlled individually, however, controlling one joint's motion influences all joints located more distally, making joint control an interesting challenge. Controlling each joint as desired will allow positioning the micro-system mounted at the endoscope's tip. The micro-system is itself a robot that will accurately position the laser. The robotic endoscope incorporates a hollow core with a diameter of 4.8 mm that holds a supply channel for the micro-system with the necessary means for actuation and surgical intervention. We demonstrated the functionality of the robotic endoscope in tracking experiments. Despite the joints' mutual influence, the articulated robotic endoscope could be handled successfully and achieved an angular settling error of less than 1 • in the individual joints. The overall robotic system's functionality was successfully demonstrated with a time-synchronized joint movement of the macro-system (serial manipulator) and the robotic endoscope.

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Section: A Micro-system-miniature Parallel Robotmentioning

confidence: 99%

Section: A Micro-system-miniature Parallel Robotmentioning

confidence: 99%

Robotic Endoscope System for Future Application in Minimally Invasive Laser Osteotomy: First Concept Evaluation

Eugster

Duverney

Karnam

et al. 2022

IEEE Trans. Med. Robot. Bionics

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“…The connection of the robot to the bone is realized by directly attaching the robot's legs to the bone. The legs' position relative to the bone could be fixed based on a noninvasive concept, for example, suction cups [54] or balloon catheters. Details on the attachment of the legs to the bone are a research topic per se, and will therefore not be further discussed in this article.…”

Section: Conceptmentioning

confidence: 99%

“…This allows the leg and arm structure to be brought close to the robot's main body for reducing the robot's cross section during insertion into and retraction from the patient. Additionally, the actuation redundancy enables the robot to translate along the bone by successively repositioning its legs and therefore expanding the workspace [54]. A schematic visualization of this insertion, retraction, and leg repositioning is provided as Supplementary video material.…”

Section: Conceptmentioning

confidence: 99%

Miniature parallel robot with submillimeter positioning accuracy for minimally invasive laser osteotomy

Eugster

Merlet²,

Gerig

et al. 2021

Robotica

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To overcome the physical limitations of mechanical bone cutting in minimally invasive surgery, we are developing a miniature parallel robot that enables positioning of a pulsed laser with an accuracy below 0.25 mm and minimizes the required manipulation space above the target tissue. This paper presents the design, control, device characteristics, functional testing, and performance evaluation of the robot. The performance of the robot was evaluated within the scope of a path-following experiment. The required accuracy for continuous cuts was achieved and reached 0.176 mm on the test bench.

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Bio-inspired Structural Intelligence for Miniature Robots in Minimal-Invasive Surgery

Rauter

Fasel

Eugster

et al. 2022

ROMANSY 24 - Robot Design, Dynamics and Control

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Design Evaluation of a Stabilized, Walking Endoscope Tip

Cited by 5 publications

References 9 publications

Robotic Endoscope System for Future Application in Minimally Invasive Laser Osteotomy: First Concept Evaluation

Robotic Endoscope System for Future Application in Minimally Invasive Laser Osteotomy: First Concept Evaluation

Miniature parallel robot with submillimeter positioning accuracy for minimally invasive laser osteotomy

Bio-inspired Structural Intelligence for Miniature Robots in Minimal-Invasive Surgery

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