Introducing STRAS: A new flexible robotic system for minimally invasive surgery

Donno, Antonio De; Zorn, Lucile; Zanne, Philippe; Nageotte, Florent; Mathelin, Michel de

doi:10.1109/icra.2013.6630726

Cited by 44 publications

(49 citation statements)

References 17 publications

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“…To combine easy switching from instrument to endoscope with instrument absolute mapping, we have decided to control the endoscope in velocity as explained in [4].…”

Section: B Proposed Control Modalitiesmentioning

confidence: 99%

“…This system consists of three flexible, cable-driven sub-systems [4]: one main endoscope and two lateral flexible instruments. The endoscope carries the endoscopic camera at its tip and has two lateral channels which are deviated from the main direction by two flaps at the distal extremity.…”

Section: Slave Robotic Systemmentioning

confidence: 99%

“…This system is based on the Anubis ® platform by Karl Storz. We have previously shown [4] that it is possible for a single user to control all DoFs of the robotic system and to perform complex tasks, which necessitate two or more persons with the manual system. However, the control modality initially offered is based on joint per joint control, which is demanding for the user, who must mentally construct the elementary displacements required for obtaining the desired operational motion.…”

Section: Introductionmentioning

confidence: 99%

“…The mechanical architecture of STRAS has been previously presented in [4] together with first manipulation experiments using joint per joint control only. This paper presents, for the first time, higher level master-slave mappings based on a kinematic modeling of the instruments, it provides objective comparisons and discuss them.…”

Section: Introductionmentioning

confidence: 99%

“…Robotics is probably an interesting tool for improving the use of flexible systems in minimally invasive surgery [3]. In this context we have developed a telemanipulated robotic system for assisting surgeons in intraluminal and transluminal procedures [4] (see Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Master/slave control of flexible instruments for minimally invasive surgery

Donno

Nageotte

Zanne

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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STRAS is a flexible robotic system based on the Anubis ® platform from Karl Storz and is aimed for intraluminal and transluminal procedures. It is composed of three cable-driven sub-systems, one endoscope and two insertable instruments. The bending instruments have three degrees of freedom and can be teleoperated by the user via two commercial master interfaces (Omega.7, Force Dimension) . In this paper we investigate several ways to map the motions from the master side to the instruments, from joint per joint control to cartesian control. We describe these mappings and compare them in elementary tasks in an attempt to analyze how non-linearities affect the accuracy of control. Results show that joint control and pseudo-cartesian control provide equivalent accuracy but with different difficulties for the user.

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“…To combine easy switching from instrument to endoscope with instrument absolute mapping, we have decided to control the endoscope in velocity as explained in [4].…”

Section: B Proposed Control Modalitiesmentioning

confidence: 99%

Section: Slave Robotic Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Master/slave control of flexible instruments for minimally invasive surgery

Donno

Nageotte

Zanne

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

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A Variable Stiffness Spring–Sponge Composite Tube with Fast Response and Shape Recovery

Ren

Zhang

Shang

et al. 2018

Macro Materials & Eng

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Soft robots have attracted more and more attention from researchers in the past decades, and multiple materials and methods have been studied to solve the conflict between strength and adaptability. This paper presents a novel composite tube comprising a spring and sponge, which can transform between stiffness and softness, and also proposes a corresponding novel method to alter the stiffness of the tube swiftly and reliably. Additionally, studies indicate that the tube exhibits shape‐recovery ability. The potential applications of the tube are illustrated in a coat of the supporting structure in the natural orifice transluminal endoscopic surgery instrument, a fixing device for human arthrosis and skeleton rehabilitation, and a variable stiffness multidirectional actuator.

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