Development of a smart surgical robot with bended forceps for infant congenital esophageal atresia surgery

Liu, Quanquan; Kobayashi, Yo; Zhang, Bo; Noguchi, Takehiko; Takahashi, Yu; Nishio, Yuya; Cao, Yang; Ieiri, Satoshi; Toyoda, Kazutaka; Uemura, Munenori; Tomikawa, Morimasa; Hashizume, Makoto; Fujie, Masakatsu G.

doi:10.1109/icra.2014.6907197

Cited by 14 publications

(6 citation statements)

References 20 publications

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“…It is configured to work within a 27 cm 3 workspace. Early pilot experiment results demonstrate proof-of-concept on dry-lab simulation tasks [32]. The Pediatric Cardiac Bioengineering Lab led by Pierre Dupont at Boston Children's Hospital is investigating the role of a robotic implant for gradual controlled apposition in long-gap oesophageal atresia [33].…”

Section: Awaitmentioning

confidence: 98%

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Robotic surgery in children: adopt now, await, or dismiss?

et al. 2015

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The role of robot-assisted surgery in children remains controversial. This article aims to distil this debate into an evidence informed decision-making taxonomy; to adopt this technology (1) now, (2) later, or (3) not at all. Robot-assistance is safe, feasible and effective in selected cases as an adjunctive tool to enhance capabilities of minimally invasive surgery, as it is known today. At present, expectations of rigid multi-arm robotic systems to deliver higher quality care are over-estimated and poorly substantiated by evidence. Such systems are associated with high costs. Further comparative effectiveness evidence is needed to define the case-mix for which robot-assistance might be indicated. It seems unlikely that we should expect compelling patient benefits when it is only the mode of minimally invasive surgery that differs. Only large higher-volume institutions that share the robot amongst multiple specialty groups are likely to be able to sustain higher associated costs with today's technology. Nevertheless, there is great potential for next-generation surgical robotics to enable better ways to treat childhood surgical diseases through less invasive techniques that are not possible today. This will demand customized technology for selected patient populations or procedures. Several prototype robots exclusively designed for pediatric use are already under development. Financial affordability must be a high priority to ensure clinical accessibility.

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Section: Awaitmentioning

confidence: 98%

“…A customized Smart Surgical Robot (SSR) for esophageal atresia and tracheo-esophageal fistula repair has been designed and assembled by Liu et al at Kyushu University Hospital in Japan [32]. This robotic system is intended for use in open surgery to improve manual dexterity and visualization within the small confines of the infant hemithorax.…”

Section: Awaitmentioning

confidence: 99%

Robotic surgery in children: adopt now, await, or dismiss?

et al. 2015

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“…The rotatable gripper can adjust the distal direction for object grasping. The mechanical structure of this fine tool manipulator is illustrated in Figure 7, and its detailed design was presented in our previous work (Liu et al, 2014). To avoid the twisting motions among the flexible shafts in an irregular path, several shaft splitters were designed to separate different flexible shafts while still maintaining their flexibility.…”

Section: Configuration Of the Slave Armmentioning

confidence: 99%

Development of a novel paediatric surgical assist robot for tissue manipulation in a narrow workspace

Liu

Shi

Zhang³

et al. 2017

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Purpose Paediatric congenital esophageal atresia surgery typically requires delicate and dexterous operations in a narrow and confined workspace. This study aims to develop a novel robot assisted surgical system to address these challenges. Design/methodology/approach The proposed surgical robot consists of two symmetrical slave arms with nine degree of freedoms each. Each slave arm uses a rigid-dexterous configuration and consists of a coarse positioning manipulator and a distal fine operation manipulator. A small Selective Compliance Assembly Robot Arm (SCARA) mechanism was designed to form the main component of the coarse positioning unit, ensuring to endure large forces along the vertical direction and meet the operational demands. The fine positioning manipulator applied the novel design using flexible shafts and universal joints to achieve delicate operations while possessing a high rigidity. The corresponding kinematics has been derived and then was validated by a co-simulation that was performed based on the combined use of Adams and MATLAB with considering the real robot mass information. Experimental evaluations for the tip positioning accuracy and the ring transfer tasks have been performed. Findings The simulation was performed to verify the correctness of the derived inverse kinematics and demonstrated the robot’s flexibility. The experimental results illustrated that the end-effector can achieve a positioning accuracy within 1.5 mm in a confined 30 × 30 × 30 mm workspace. The ring transfer task demonstrated that the surgical robot is capable of providing a solution for dexterous tissue intervention in a narrow workspace for paediatric surgery. Originality/value A novel and compact surgical assist robot is developed to support delicate operations by using the dexterous slave arm. The slave arm consists of a SCARA mechanism to avoid experiencing overload in the vertical direction and a tool manipulator driven by flexible shafts and universal joints to provide high dexterity for operating in a narrow workspace.

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“…The infrared LED webcam (DC-NCR13U, Hanwha Q CELLS Japan Co., Ltd.) is used in this research, and its resolution is 1.3 million pixels. Figure 1a shows the control console of the prototype [20] and the set position of the webcam. Generally, the webcam is set on top of the display, but this may cause problems in capturing the whole eye because eyelashes or bangs may interfere.…”

Section: Acquisition Methods Of Pupil Movementmentioning

confidence: 99%

An image processing method for changing endoscope direction based on pupil movement

et al. 2016

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Increased attention has been focused on laparoscopic surgery because of its minimal invasiveness and improved cosmetic properties. However, the procedure of laparoscopic surgery is considerably difficult for surgeons, thus paving the way for the introduction of robotic technology to reduce the surgeon's burden. Thus, we have developed a single-port surgery assistive robot with a master-slave structure that has two surgical manipulators and a sheath manipulator for the alteration of endoscope direction. During the development of the surgical robotic system, achieving intuitive operation is very important. In this paper, we propose a new laparoscope manipulator control system based on the movement of the pupils to enhance intuitive operability. We achieve this using a webcam and an image processing method. After the pupil movement data are obtained, the master computer transforms these data into an output signal, and then the slave computer receives and uses that signal to drive the robot. The details of the system and the pupil detection procedure are explained. The aim of the present experiment is to verify the effectiveness of the image processing method applied to the alteration of endoscope direction control system. For this purpose, we need to determine an appropriate pupil motion activation threshold to begin the sheath manipulator's movement. We used four kinds of activation threshold, measuring the time cost of a particular operation: to move the image of the endoscope to a specific target position. Moreover, we identified an appropriate activation threshold that can be used to determine whether the endoscope is moving.

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Development of a smart surgical robot with bended forceps for infant congenital esophageal atresia surgery

Cited by 14 publications

References 20 publications

Robotic surgery in children: adopt now, await, or dismiss?

Robotic surgery in children: adopt now, await, or dismiss?

Development of a novel paediatric surgical assist robot for tissue manipulation in a narrow workspace

An image processing method for changing endoscope direction based on pupil movement

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