Design of Medical Robots

Dombre, Etienne; Poignet, Philippe; Pierrot, François

doi:10.1002/9781118562147.ch5

Cited by 8 publications

(6 citation statements)

References 26 publications

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“…The surgical instrument penetrates the patient’s body through the incision point. The 4-DoF mobility constraints featured by the RCM generate a spherical working space for the TCP and can be mechanically imposed or virtually defined ( Dombre et al, 2013 ). However, considering the incision as a fixed point that coincides with the RCM has some disadvantages.…”

Section: Methodsmentioning

confidence: 99%

Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion

et al. 2023

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Introduction: Laparoscopic surgery often relies on a fixed Remote Center of Motion (RCM) for robot mobility control, which assumes that the patient’s abdominal walls are immobile. However, this assumption is inaccurate, especially in collaborative surgical environments. In this paper, we present a force-based strategy for the mobility of a robotic camera-holder system for laparoscopic surgery based on a pivoting motion. This strategy re-conceptualizes the conventional mobility control paradigm of surgical robotics.Methods: The proposed strategy involves direct control of the Tool Center Point’s (TCP) position and orientation without any constraints associated with the spatial position of the incision. It is based on pivoting motions to minimize contact forces between the abdominal walls and the laparoscope. The control directly relates the measured force and angular velocity of the laparoscope, resulting in the reallocation of the trocar, whose position becomes a consequence of the natural accommodation allowed by this pivoting.Results: The effectiveness and safety of the proposed control were evaluated through a series of experiments. The experiments showed that the control was able to minimize an external force of 9 N to ±0.2 N in 0.7 s and reduce it to 2 N in just 0.3 s. Furthermore, the camera was able to track a region of interest by displacing the TCP as desired, leveraging the strategy’s property that dynamically constrains its orientation.Discussion: The proposed control strategy has proven to be effective minimizing the risk caused by sudden high forces resulting from accidents and maintaining the field of view despite any movements in the surgical environment, such as physiological movements of the patient or undesired movements of other surgical instruments. This control strategy can be implemented for laparoscopic robots without mechanical RCMs, as well as commercial collaborative robots, thereby improving the safety of surgical interventions in collaborative environments.

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Section: Methodsmentioning

confidence: 99%

Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion

et al. 2023

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“…The first major implementation of robotics has been in manufacturing applications. Similarly, the war on infectious diseases requires an atmosphere that is uncomfortable for human workers, but suitable for robots [1], [4]- [6]. Remote temperature measurement robots in public areas and ports of entry show the application of modern diagnostic and screening technologies [7].…”

Section: -Rise Of Automation Caused By Coronavirusmentioning

confidence: 99%

The effect of automated swab robot: new technology drives new behavior

Aranda

Antonio

2021

IJEECS

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The world is now faced with a devastating pandemic outbreak coronavirus disease-2019 (COVID-19). The latest coronavirus infected almost all continents and witnessed sharp rises in cases diagnosed. The engineers tend to eliminate the matter and have solutions, one in every utilizing technical innovation. Researchers from Singapore, Taiwan, and Denmark have developed a fully automated robot that may take coronavirus swabs in order for health care professionals don’t seem to be exposed to the chance of infection. The objective of this study is to present the potential effects of robotics to help healthcare professionals on getting specimens and testing for COVID-19. These possible consequences include positive and negative outcomes and as a result, the overall impact on the profit or loss to society is far from obvious. The paper discusses two theoretical scenarios, distinguished fundamentally by the different behavioral responses of the automated swab robot and the selection of results in line with policy interventions.

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“…Davies [4] presented a set of safety design guidelines with safety requirements. More recently, O'Toole [5] summarized design methods for safety of surgical robotics systems, and Dombre [6] presented design guidelines that classify safety design methods depending on the type of components (electromechanical, electrical, and software). Our prior work [7] has a preliminary classification of safety features as well.…”

Section: Related Workmentioning

confidence: 99%

“…The objective was to collect and identify a set of safety features that have been frequently used in the domain or have been reported to be effective based on actual experiences. We reviewed about 90 academic articles starting from 1985 [18] up to 2013 [19], [6], focusing on safety, safety designs, and safety methods. Through our literature review, we were able to identify a set of safety features that have been repeatedly used across a variety of medical robot systems in history, as in Table I.…”

Section: B Survey Of Safety Features In Medical Roboticsmentioning

confidence: 99%

Safety Design View: A conceptual framework for systematic understanding of safety features of medical robot systems

Jung

Taylor

Kazanzides

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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A variety of medical and surgical robot systems have been developed in academia and industry and commercial products are actively used in modern operating rooms. However, there is no safety standard that specifically governs the design of medical robot systems. Despite the availability of several safety design guidelines, the absence of a basis or foundation for safety makes it difficult to describe safety designs in a systematic manner, and to share knowledge and experiences on safety with others. In the meantime, the scale and complexity of recent medical robot systems have been increasing and this further complicates the effective representation and sharing of safety designs. As an approach to this issue, we propose the Safety Design View, a conceptual framework that can capture and describe both the design-time and run-time characteristics of safety features of medical robot systems in a systematic and structured manner. To illustrate the application of the Safety Design View, we collected a set of frequently used safety features, based on our literature review of safety in the medical robotics domain, and show how we can more effectively describe and understand safety designs of medical robot systems.

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Design of Medical Robots

Cited by 8 publications

References 26 publications

Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion

Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion

The effect of automated swab robot: new technology drives new behavior

Safety Design View: A conceptual framework for systematic understanding of safety features of medical robot systems

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