Magnetic Surgical Instruments for Robotic Abdominal Surgery

Leong, Florence; Garbin, Nicolo; Natali, Christian Di; Mohammadi, Alireza; Thiruchelvam, Dhan; Oetomo, Denny; Valdastri, Pietro

doi:10.1109/rbme.2016.2521818

Cited by 44 publications

(28 citation statements)

References 105 publications

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“…Systems include: a 3 DOF pneumatically actuated cauterizer [93]; a magnetically anchored pan tilt and translation camera system [91,94]; various retractors [95], and a number of multi-degree of freedom arms [88,26,96]. Some of [88,87,89] these works have incorporated the use of reconfigurable frames that insert with the tool and keep the tools mounted together in order to localize the arms with respect to one another and to provide better dexterity. All of these systems are intended to be inserted into the body through a single incision.…”

Section: Types Of Magnetic Systemsmentioning

confidence: 99%

“…Despite progress made in magnetically actuated robotics there are several key challenges remaining. The following is a listing of these challenges, primarily based on [87]. While animal trials have been undertaken for some magnetically actuated systems, there are a variety of issues that need improvement before the adoption of these technologies in clinically deployable systems.…”

Section: Challenges and Open Problems In Magnetic Actuationmentioning

confidence: 99%

See 1 more Smart Citation

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Simaan

Yasin

Wang

2018

Annu. Rev. Control Robot. Auton. Syst.

154

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Emerging paradigms furthering the reach of medical technology deeper into human anatomy present unique modeling, control and sensing problems. This paper discusses a brief history of medical robotics leading to the current trend of minimally invasive intervention and diagnostics in confined spaces. Robotics for natural orifice and single port access surgery, capsule and magnetically actuated robotics and microrobotics are discussed with the aim of elucidating the state of the art. Works on modeling, sensing and control of mechanical architectures of robots for natural orifice and single port access surgery are discussed, followed by a presentation of works on magnetic actuation, sensing and localization for capsule robotics and microrobotics. Finally challenges and open problems in each one of these areas are presented.

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Section: Types Of Magnetic Systemsmentioning

confidence: 99%

Section: Challenges and Open Problems In Magnetic Actuationmentioning

confidence: 99%

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Simaan

Yasin

Wang

2018

Annu. Rev. Control Robot. Auton. Syst.

154

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“…This led to the introduction of the laparoendoscopic singlesite (LESS) surgical technique which requires only a single incision at the umbilicus for laparoscopic tools to be inserted through to gain access within the abdominal cavity [2]. Due to the rigid mechanical link on the surgical instruments, the dexterity and manoeuvrability of the instruments are severely constrained by the incision point, causing difficulties to access to multiple quadrants of the abdomen [3].…”

Section: Introductionmentioning

confidence: 99%

“…Following this, many researches implemented MAGS into the development of surgical devices along with robotic manipulators driven by embedded DC micromotors [6]. Nonetheless, due to size constraint on the surgical devices for a 20mm diameter port insertion, DC micromotors that could be embedded into the devices faces an upper limit in size and therefore power, which restricts its suitability for some complex surgical manipulation [3].…”

Section: Introductionmentioning

confidence: 99%

Magnetic interactions of neighbouring stator sets in multi DOF local electromagnetic actuation for robotic abdominal surgery

Leong

Mohammadi

Tan

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper aims to characterise the magnetic interaction in neighbouring sets of local electromagnetic actuation (LEMA) actuators in a robotic platform for abdominal surgery. The analysis looks into the affect of the magnetic fields contributed by a stator-rotor set (the actuation unit) located adjacent to the rotor of interest. Each rotor drives one of the degree-of-freedoms (DOFs) on a surgical robotic device. In this study, a two-DOF setup is used for the magnetic interaction analysis, which can be expanded to general case n-DOF setup with the Principle of Superposition of magnetic fields from multiple sources. The magnetic model is then used to compute the dynamics of the system, which involves the equation of motion of the rotors and associated robotic mechanism it drives, and the actuator (electrical) model that takes into account the back EMF generated by the permanent magnet rotors. The magnetic field effect of the neighbouring set onto the rotor is observed by obtaining the speed response of the rotor through simulation so that the dynamic model can be validated against the experimental results. The outcomes is useful for the design specification of the LEMA system configuration, involving the feasible / pragmatic distance between the stator sets such that the interference is minimised, and for the design of the necessary control strategy.

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“…The use of magnetic linkages in surgical applications has been explored in various forms. A thorough review has been performed by authors [6] on the implementation of magnetic based approaches in surgical instruments for abdominal surgeries. The approach removes the rigid mechanical link, and results in surgical devices that can be completely detached from the external actuation unit and be fully inserted into the abdominal cavity.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical Devices

Mohammadi

Samsonas

Leong

et al. 2017

IEEE/ASME Trans. Mechatron.

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Abstract-This paper proposes an electromagnetic based Local Magnetic Actuation (LMA) as a novel actuation system for cases where it is required to actuate a mechanical system across a physical barrier. The main motivation for LMA is in the area of minimally invasive robotic surgery where it is desired to actuate the surgical manipulators across the abdominal wall. In the Local ElectroMagnetic Actuation (LEMA) approach, it is proposed that the magnetic field is produced by a pair of electromagnetic stators, acting across a physical barrier (the abdominal wall) and interacts with the magnetic field of the permanent magnet rotor on the other side of the barrier. The mathematical model of the electromechanical system is developed by exploiting the principles of synchronous motors. Control strategy was then developed to regulate the rotor speed in the presence of model uncertainties, load disturbances and axes misalignment. Furthermore, the performance of the controllers is evaluated in two cases: with Hall effect sensor embedded internally in the abdominal cavity close to the permanent magnet rotor and placed externally to the abdominal cavity close to the stators. The main contribution is the application of electromagnetic strategies in the unique setting of rotor actuation across a physical wall, focusing mainly on the dynamics modelling of the resulting structure and evaluation of its performance for surgical application. The proposed model and actuation strategies allow robust control of the desired speed and torque of the internal rotor and this is demonstrated through experiments.

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Magnetic Surgical Instruments for Robotic Abdominal Surgery

Cited by 44 publications

References 105 publications

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Magnetic interactions of neighbouring stator sets in multi DOF local electromagnetic actuation for robotic abdominal surgery

Modeling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical Devices

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