Miniature parallel robot with submillimeter positioning accuracy for minimally invasive laser osteotomy

Eugster, Manuela; Merlet, Jean‐Pierre; Gerig, Nicolas; Cattin, Philippe C.; Rauter, Georg

doi:10.1017/s0263574721000990

Cited by 9 publications

(7 citation statements)

References 64 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In other words, depending on the sign of the strain, the curvature direction can be determined in the bending plane. Therefore, once the normal strain is calculated from the measured wavelength shift in the FBG sensor using (1), the curvature of the beam and the upward or downward direction of bending can be extracted from (2).…”

Section: Fbg-based Shape Sensor Working Principlementioning

confidence: 99%

“…aser osteotomy, compared to conventional mechanical bone surgery, allows small, functional, and precise cuts based on pre-operative planning. When laser osteotomy is combined with endoscopy (minimally invasive surgery), the healing process will be accelerated, and the risk of infection and trauma will be reduced for the patient [1], [2]. However, permanent damage may happen to patients if the shape or tip position of the endoscope is not estimated correctly.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fabrication and Characterization of a Flexible FBG-Based Shape Sensor Using Single-Mode Fibers

Roodsari

Freund

Zam

et al. 2022

IEEE Trans. Biomed. Eng.

Self Cite

View full text Add to dashboard Cite

Minimally invasive surgical procedures have become the preferable option, as the recovery period and the risk of infections are significantly lower than traditional surgeries. However, the main challenge in using flexible tools for minimal surgical interventions is the lack of precise feedback on their shape and tip position inside the patient's body. Shape sensors based on fiber Bragg gratings (FBGs) can provide accurate shape information depending on their design. One of the most common configurations in FBG-based shape sensors is to attach three single-mode optical fibers with arrays of FBGs in a triangular fashion around a substrate. Usually, the selected substrates dominate the bending stiffness of the sensor probe, as they have a larger diameter and show less flexibility compared to the optical fibers. Although sensors with this configuration can accurately estimate the shape, they cannot be implemented in flexible endoscopes where large deflections are expected.This paper investigates the shape sensor's performance when using a superelastic substrate with a small diameter instead of a substrate with dominating bending stiffness. A generalized model is also designed for characterizing this type of flexible FBG-based shape sensor. Moreover, we evaluated the sensor in single and multi-bend deformations using two shape reconstruction methods.

show abstract

Section: Fbg-based Shape Sensor Working Principlementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fabrication and Characterization of a Flexible FBG-Based Shape Sensor Using Single-Mode Fibers

Roodsari

Freund

Zam

et al. 2022

IEEE Trans. Biomed. Eng.

Self Cite

View full text Add to dashboard Cite

show abstract

“…The miniature parallel robot attached to the target surface with two legs to increase stability and accuracy. Once attached, it had a workspace of approximately 34 mm 2 [28]. The legs' position relative to the bone could be fixed based on a noninvasive concept, e.g., suction cups [30] or balloon catheters.…”

Section: A Micro-system-miniature Parallel Robotmentioning

confidence: 99%

“…In previous work, we presented and evaluated a miniature parallel robot that can accurately position a laser at the intervention site [28]. This laser positioning device is designed to require minimal manipulation space above the bone and can be operated in confined spaces such as inside a joint.…”

mentioning

confidence: 99%

Robotic Endoscope System for Future Application in Minimally Invasive Laser Osteotomy: First Concept Evaluation

Eugster

Duverney

Karnam

et al. 2022

IEEE Trans. Med. Robot. Bionics

Self Cite

View full text Add to dashboard Cite

We are developing a robotic system for future application in minimally invasive laser osteotomy. This paper presents the mechanical system concept as a macro-milli-micro system and focuses on designing and evaluating the milli-system. The millisystem consists of an articulated tendon-driven robotic endoscope with seven rigid links with an outer diameter of 8 mm connected by six discrete rotational joints (±30 • ). These joints can be controlled individually, however, controlling one joint's motion influences all joints located more distally, making joint control an interesting challenge. Controlling each joint as desired will allow positioning the micro-system mounted at the endoscope's tip. The micro-system is itself a robot that will accurately position the laser. The robotic endoscope incorporates a hollow core with a diameter of 4.8 mm that holds a supply channel for the micro-system with the necessary means for actuation and surgical intervention. We demonstrated the functionality of the robotic endoscope in tracking experiments. Despite the joints' mutual influence, the articulated robotic endoscope could be handled successfully and achieved an angular settling error of less than 1 • in the individual joints. The overall robotic system's functionality was successfully demonstrated with a time-synchronized joint movement of the macro-system (serial manipulator) and the robotic endoscope.

show abstract

“…Современный уровень интеграции механических, электрических и информационных узлов в измерительных и мехатронных системах позволяет создавать интеллектуальные приборы, специализирующиеся на выполнении конкретной задачи [1,2]. Это дает значительный синергетический эффект при взаимной адаптации сенсоров, способов обработки данных, управляющих сигналов и средств исполнения внутри автономного устройства -модуля [3][4][5].…”

Section: Introductionunclassified

Mechatronic control system for high-temperature synthesis of materials based on intelligent measuring modules

Dolmatov¹

2022

Yugra State University Bulletin

View full text Add to dashboard Cite

The subject of researcs: The article is devoted to the measuring complex for the experimental study of the SHS phenomenon. The purpose of the development was to simultaneously observe microheterogeneous processes and macrokinetics of high-temperature synthesis. Methods and objects of research: Embedded computing platforms with support for artificial intelligence tools are used to organize high-speed multi-zone registration of thermal imaging and spectral data. Results of research: Within the framework of the complex, a group of intelligent modules with autonomous data analysis in real time has been developed. The pyrometric module of the complex reveals structural phase transitions in the process of high-temperature synthesis of materials and measures characteristic temperatures. The thermal imaging module determines the position of the SHS wave front and plots the material and temperature phase distributions on the sample surface. The mechatronic module predicts the location of a new observation area, based on the measured parameters of the SHS process, and moves the optical control means there when the combustion wave leaves the current registration area. The interaction of intelligent modules of the mechatronic system is implemented through messages in a wireless network, and their synchronization via the NTP protocol has an error of about 40 s.

show abstract

Miniature parallel robot with submillimeter positioning accuracy for minimally invasive laser osteotomy

Cited by 9 publications

References 64 publications

Fabrication and Characterization of a Flexible FBG-Based Shape Sensor Using Single-Mode Fibers

Fabrication and Characterization of a Flexible FBG-Based Shape Sensor Using Single-Mode Fibers

Robotic Endoscope System for Future Application in Minimally Invasive Laser Osteotomy: First Concept Evaluation

Mechatronic control system for high-temperature synthesis of materials based on intelligent measuring modules

Contact Info

Product

Resources

About