Highly articulated robotic probe for minimally invasive surgery

Degani, Amir; Choset, Howie; Zubiate, Brett; Ota, Takeyoshi; Zenati, Marco A.

doi:10.1109/iembs.2008.4649903

Cited by 110 publications

(120 citation statements)

References 9 publications

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“…To improve instrument tip maneuverability, Degani et al [11] have also described a ''highly articulated robotic probe'' (HARP) with conventional actuation for experimental use in cardiac surgery. They reported that this probe could traverse a tight space without upsetting the contiguous viscera, allowing the surgeon to approach inaccessible intra-pericardial locations directly and perform controlled interventions with immense maneuverability.…”

Section: Classification Of Robots On the Basis Of Maneuverabilitymentioning

confidence: 99%

Robotics in urological surgery: Review of current status and maneuverability, and comparison of robot-assisted and traditional laparoscopy

Singh

2011

Computer Aided Surgery

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To assess the current state of robot-assisted urological surgery, the literature concerning surgical robotic systems, surgical telemanipulators and laparoscopic systems was reviewed. Aspects of these systems pertaining to maneuverability were evaluated, with a view to quantifying their stability and locomotive properties and thereby determining their suitability for use in assisted laparoscopic procedures, particularly robot-assisted laparoscopic urological surgery. The degree of maneuverability and versatility of a robotic system determine its utility in the operating room, and the newer-generation surgical robotic systems have been found to possess a higher degree of maneuverability than older class 1 and class 2 systems.It is now clearly established that robots have an important place in the urologist's armamentarium for minimally invasive surgery; however, the long-term outcomes of several urological procedures (other than robot-assisted radical prostatectomy) performed with the da Vinci surgical robotic system have yet to be evaluated.

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Section: Classification Of Robots On the Basis Of Maneuverabilitymentioning

confidence: 99%

Robotics in urological surgery: Review of current status and maneuverability, and comparison of robot-assisted and traditional laparoscopy

Singh

2011

Computer Aided Surgery

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“…Redundancy improves the dexterity and the robustness of a robot [1] and thus, it is expected that hyper-redundant robots would show better performance than conventional robots, especially in an unstructured environment. For this reason, many hyper-redundant robots have been developed for tasks such as minimally invasive surgery [2][3][4], surveillance [5] and inspections [6]. However, the practical application of hyper-redundant robots has been limited because the control of a hyper-redundant robot requires all active joints to be controlled in a systematic way to create a well-defined task motion.…”

Section: Introductionmentioning

confidence: 99%

A Modular Control Scheme for Hyper-Redundant Robots

Cho

Jung

Son

et al. 2015

International Journal of Advanced Robotic Systems

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Hyper-redundant robots, robots with many degrees of freedom, are considered to be advantageous in many tasks, such as minimally invasive surgery, surveillance and inspection. However, due to their hyper degrees of freedom, the control of hyper-redundant robots is always challenging. Several fitting algorithms, which iteratively fit a hyper-redundant robot into a continuous curve, have been proposed to control the configuration of hyperredundant robots. However, these algorithms require heavy computation, preventing them from being used in practice. In this study, we propose a novel modular control scheme for a hyper-redundant robot to reduce the computational load by dividing the robot into smaller modules and fitting each module separately. A Jacobianbased position control algorithm is also used to utilize the redundancy of each module to ensure that the overall configuration of the robot resembles the given desired curve. Simulation results show that the proposed scheme can be used to control hyper-redundant robots effectively.

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“…Home assistance robotic manipulators must feature compliant joints for safety and must be lower cost to spur adoption, which results in decreased precision of sensors and actuators. Medical robots, such as tentacle-like and snake-like robots (e.g., [32,9,23,7]), are becoming smaller and also are gaining larger numbers of degrees of freedom. These features are necessary to enable new, less invasive surgical procedures that require maneuvering around sensitive or impenetrable anatomical obstacles.…”

Section: Introductionmentioning

confidence: 99%

Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision

Sun

Torres

Berg

et al. 2016

Springer Tracts in Advanced Robotics

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Robotic manipulators designed for home assistance and new surgical procedures often have significant uncertainty in their actuation due to compliance requirements, cost constraints, and size limits. We introduce a new integrated motion planning and control algorithm for robotic manipulators that makes safety a priority by explicitly considering the probability of unwanted collisions. We first present a fast method for estimating the probability of collision of a motion plan for a robotic manipulator under the assumptions of Gaussian motion and sensing uncertainty. Our approach quickly computes distances to obstacles in the workspace and appropriately transforms this information into the configuration space using a Newton method to estimate the most relevant collision points in configuration space. We then present a sampling-based motion planner based on executing multiple independent rapidly exploring random trees that returns a plan that, under reasonable assumptions, asymptotically converges to a plan that minimizes the estimated collision probability. We demonstrate the speed and safety of our plans in simulation for (1) a 3-D manipulator with 6 DOF, and (2) a concentric tube robot, a tentacle-like robot designed for surgical applications.

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Highly articulated robotic probe for minimally invasive surgery

Cited by 110 publications

References 9 publications

Robotics in urological surgery: Review of current status and maneuverability, and comparison of robot-assisted and traditional laparoscopy

Robotics in urological surgery: Review of current status and maneuverability, and comparison of robot-assisted and traditional laparoscopy

A Modular Control Scheme for Hyper-Redundant Robots

Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision

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