Miniature robots can assist in Laparoscopic cholecystectomy

Oleynikov, Dmitry; Rentschler, Mark E.; Hadzialic, Adnan; Dumpert, Jason; Platt, S. R.; Farritor, Shane

doi:10.1007/s00464-004-8918-6

Cited by 45 publications

(25 citation statements)

References 12 publications

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“…Several fixed-base prototype in vivo camera robots have been used during porcine (swine) cholecystectomies to provide the surgeon with additional visual feedback [20]. While these fixed-base robots are fundamentally different from the mobile robot described in this paper, the successful clinical trials, with the fixed-base robots, demonstrated that in vivo robotic cameras can provide useful and improved visual feedback.…”

Section: A Robot-assisted Endoscopymentioning

confidence: 99%

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

et al. 2006

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Abstract-Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon's ability to view and touch the surgical environment directly. These limitations generally restrict the application of laparoscopy to procedures less complex than those performed during open surgery. This paper presents a theoretical and experimental analysis of miniature, wheeled, in vivo robots to support laparoscopy. The objective is to develop a wireless mobile imaging robot that can be placed inside the abdominal cavity during surgery. Such robots will allow the surgeon to view the surgical environment from multiple angles. The motion of these in vivo robots will not be constrained by the insertion incisions. Simulation and experimental analyses have led to a wheel design that can attain good mobility performance in in vivo conditions.

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Section: A Robot-assisted Endoscopymentioning

confidence: 99%

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

et al. 2006

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“…The first is a cylindrical camera system mounted on a three-legged base, which can rotate 360 • and change the angle of the camera in the vertical plane through 45 • to provide a range of views of the entire abdomen (12). During a laparoscopic cholecystectomy on an anaesthetized pig, the device proved useful in providing images of trocars being inserted through the skin and instruments entering the abdomen via the ports.…”

Section: Intra-abdominal Camerasmentioning

confidence: 99%

Robotic applications in abdominal surgery: their limitations and future developments

Taylor

Jayne

2006

Robotics Computer Surgery

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Background In the past 20 years, the technical aspects of abdominal surgery have changed dramatically. Operations are now routinely performed by laparoscopic techniques utilizing small abdominal incisions, with less patient discomfort, earlier recovery, improved cosmesis, and in many cases reduced economic burden on the healthcare provider. These benefits have largely been seen in the application of laparoscopic techniques to relatively straightforward procedures. It is not clear whether the same benefits carry through to more complex abdominal operations, which are more technically demanding and for which current laparoscopic instrumentation is less well adapted. The aim of surgical robotics is to address these problems and allow the advantages of minimal access surgery to be seen in a greater range of operations.

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“…In current robotic platforms the tools, are not manipulated directly by the surgeon anymore, but are held by specialized robot arms and remotely commanded by the surgeon who comfortably sits at an input console, such as in the Intuitive Surgical's da Vinci system (Alterovitz, 2009) and in the RAVEN robotic platform for telesurgery (Lum et al, 2009). An alternative approach is to introduce small robots with embedded actuators inside the body, as demonstrated by several researchers (Rentschler et al, 2006;Hu et al, 2009;Fowler et al, 2010;Lehman et al, 2008;Oleynikov et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm

et al. 2012

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Abstract. This article presents the design of a newly developed 2DoF robotic arm with a novel statically balanced and bi-stable compliant grasper as the end effector for laparoscopic surgery application. The arm is based on internal motors actuating 2 rotational DoFs: pitch and roll. The positive stiffness of the monolithic grasper has been compensated using pre-curved straight guided beams that are preloaded collinear with the direction of actuation of the grasper. The result is a fully compliant statically balanced laparoscopic grasper. The grasper has been successfully adapted to a robotic arm. The maximum force and stiffness compensations were measured to be 94 % and 97 % (i.e. near zero stiffness) respectively. Furthermore, the feasibility of adjusting for bi-stable behavior has been shown. This research can be a preliminary step towards the design of a statically balanced fully compliant robotic arm for laparoscopic surgery and similar areas.

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Miniature robots can assist in Laparoscopic cholecystectomy

Cited by 45 publications

References 12 publications

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

Robotic applications in abdominal surgery: their limitations and future developments

A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm

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