Multi-jointed integrated medical instrument system for single port access laparoscopic surgery

Jeong, Hyunhwan; Cheong, Joono; Lee, Sunil

doi:10.1109/iccas.2010.5669902

Cited by 7 publications

(1 citation statement)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Dario et al [9] proposed the design and fabrication of SPRINT robot with on-board actuation mechanisms. Jeong et al [10] developed a design for single port access laparoscopic surgery inspired by the structure of the elephant trunk. Simaan and Xu et al [11]- [13] developed systems based on snake-like continuum robot arms actuated by NiTi tubes or stainless steel rods in push-pull configurations.…”

Section: Introductionmentioning

confidence: 99%

Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization

Bai

Wang

Cao

et al. 2022

IEEE Trans. Med. Robot. Bionics

View full text Add to dashboard Cite

Effective teleoperation of the small-scale and highlyintegrated robots for single-port surgery (SPS) imposes unique control and human-robot interaction challenges. Traditional isometric teleoperation schemes mainly focus on end-to-end trajectory mapping, which is problematic when applied to SPS robotic control, especially for dual-arm coordinated operation. Inspired by the human arm configuration in boxing maneuvers, an optimized anthropomorphic coordinated control strategy based on a dual-step optimization approach is proposed. Theoretical derivation and solvability of the problem are addressed, and the effectiveness of the method is further demonstrated in detailed simulation and in-vitro experiments. The proposed control strategy has been shown to perform dexterous SPS bimanual manipulation more effectively, involving less instrument-interference and is free from singularities, thereby improving the safety and efficiency of SPS operations.

show abstract