Magnetic link design for a robotic laparoscopic camera

Simi, Massimiliano; Ciuti, Gastone; Tognarelli, Selene; Valdastri, Pietro; Menciassi, Arianna; Dario, P.

doi:10.1063/1.3352581

Cited by 21 publications

(29 citation statements)

References 10 publications

(2 reference statements)

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“…With these internal tools they effectively exposed the surgical field, with no need for extra access ports, thus, completing 40 laparoscopic cholecystectomies with a single-incision laparoscopic surgery (SILS) approach. A magnetic camera system also is reported by Simi et al [12], where an internal motor is used to finely orient the point of view.…”

Section: Introductionmentioning

confidence: 94%

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Mucoadhesive film for anchoring assistive surgical instruments in endoscopic surgery: in vivo assessment of deployment and attachment

et al. 2011

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Section: Introductionmentioning

confidence: 94%

“…The preload force (5 N, 3 min) was applied and then the cylindrical passive modules (10,12,15, and 20 mm in diameter) were retracted from the gastric mucosa.…”

Section: In Vivo Validationmentioning

confidence: 99%

Mucoadhesive film for anchoring assistive surgical instruments in endoscopic surgery: in vivo assessment of deployment and attachment

et al. 2011

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“…Considering defined the features of the head module (Simi, 2010), the tail module and the EPMs, the only remaining free part for maximizing the camera span was the compliant joint. Equations (derived from the Euler-Bernoulli model) can be applied to describe the deformation of a linear elastic isotropic beam, providing information about the distal side displacement and the bending angle (Wang, 2008;Belendez, 2002).…”

Section: Principle Of Operation Analysismentioning

confidence: 99%

“…Considering the endoscopic camera robot described in Simi (2010), a very similar prototype was fabricated as head module of the new robot. An improvement regarded orientation of the camera view direction assembled with an angle of 10…”

Section: Head Modulementioning

confidence: 99%

“…In order to guarantee a finer control, large or complex robotic camera systems with active internal degrees of freedom have been proposed (Lehman, 2008;Hu, 2009). A small scale magnetically driven robotic camera (12.7 mm in diameter, 32 mm in length) has already been developed with one internal degree of freedom (DoF), based on an innovative Magnetic Internal Mechanism (MIM) (Simi, 2010(Simi, , 2012. Nevertheless, large size, poor stability, reliability and, or limited manoeuvrability or motion range, remain main drawbacks.…”

Section: Introductionmentioning

confidence: 99%

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Modeling of a compliant joint in a Magnetic Levitation System for an endoscopic camera

et al. 2012

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Abstract.A novel compliant Magnetic Levitation System (MLS) for a wired miniature surgical camera robot was designed, modeled and fabricated. The robot is composed of two main parts, head and tail, linked by a compliant beam. The tail module embeds two magnets for anchoring and manual rough translation. The head module incorporates two motorized donut-shaped magnets and a miniaturized vision system at the tip. The compliant MLS can exploit the static external magnetic field to induce a smooth bending of the robotic head (0-80• ), guaranteeing a wide span tilt motion of the point of view. A nonlinear mathematical model for compliant beam was developed and solved analytically in order to describe and predict the trajectory behaviour of the system for different structural parameters. The entire device is 95 mm long and 12.7 mm in diameter. Use of such a robot in single port or standard multiport laparoscopy could enable a reduction of the number or size of ancillary trocars, or increase the number of working devices that can be deployed, thus paving the way for multiple view point laparoscopy.

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Development of an in vivo visual robot system with a magnetic anchoring mechanism and a lens cleaning mechanism for laparoendoscopic single‐site surgery (LESS)

Feng

Dong

et al. 2017

Robotics Computer Surgery

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Background Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems.Methods In this work, an in vivo visual robot system with a new mechanism for LESS was investigated. A finite element method (FEM) analysis was carried out to ensure the safety of the in vivo visual robot during the movement, which was the most important concern for surgical purposes. A master-slave control strategy was adopted, in which the control model was established by off-line experiments. ResultsThe in vivo visual robot system was verified by using a phantom box. The experiment results show that the robot system can successfully realize the expected functionalities and meet the demands of LESS. ConclusionThe experiment results indicate that the in vivo visual robot with high manipulability has great potential in clinical application. KEYWORDSfinite element method, in vivo visual robot system, laparoendoscopic single-site surgery, masterslave control

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Magnetic link design for a robotic laparoscopic camera

Cited by 21 publications

References 10 publications

Mucoadhesive film for anchoring assistive surgical instruments in endoscopic surgery: in vivo assessment of deployment and attachment

Mucoadhesive film for anchoring assistive surgical instruments in endoscopic surgery: in vivo assessment of deployment and attachment

Modeling of a compliant joint in a Magnetic Levitation System for an endoscopic camera

Development of an in vivo visual robot system with a magnetic anchoring mechanism and a lens cleaning mechanism for laparoendoscopic single‐site surgery (LESS)

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