On the Preliminary Design of a Portable Manipulation System for Commercial Robotic Surgery Forceps

Yazici, Mustafa Volkan; Öztan, Mustafa Onur; Gezgin, Erkin

doi:10.1109/tiptekno.2019.8894939

Cited by 1 publication

(3 citation statements)

References 15 publications

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“…Earlier study of the authors 16 proved feasibility of the proposed concept by using simulation environments and low-resolution actuation prototypes. In order to propose a modular robotic articulating laparoscopic system that will adopt robotic surgery forceps and allow surgeons to use it comfortably as classical laparoscopic tools, this study firstly focuses on the ergonomic structural design of the system handling that will include separate modules as an actuation box to house actuators, forceps attachment slot, transmission couplings, controller joysticks/sensors, and an ergonomic handle for them to be installed.…”

Section: Structural Designmentioning

confidence: 75%

“…In light of this, design optimisation was carried out in a simulation environment by considering the previous study. 16 The multi-objective design optimisation in terms of reducing overall weight, improved ergonomics, and usability of physical human interface was carried out. Figure 2 illustrates the exploded model of the system with visible mentioned components.…”

Section: Structural Designmentioning

confidence: 99%

“…In order to propose a modular robotic articulating laparoscopic system that will adopt robotic surgery forceps and allow surgeons to use it comfortably as classical laparoscopic tools, this study firstly focuses on the ergonomic structural design of the system handling that will include separate modules as an actuation box to house actuators, forceps attachment slot, transmission couplings, controller joysticks/sensors, and an ergonomic handle for them to be installed. In light of this, design optimisation was carried out in a simulation environment by considering the previous study 16 . The multi‐objective design optimisation in terms of reducing overall weight, improved ergonomics, and usability of physical human interface was carried out.…”

Section: Structural Designmentioning

confidence: 99%

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Portable manipulation system for commercial robotic surgery forceps

Yazici

Koçak

Öztan

et al. 2023

Robotics Computer Surgery

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BackgroundTransition from the utilisation of traditional instruments to new robotic methodologies in surgical operations occurs rapidly. Although the implementation of these methodologies to classical surgery operations is advantageous due to increased precisions and enhanced motion capabilities of robotic systems, overall worldwide accessibility and adaptation are still limited due to high equipment costs and special infrastructure requirements.MethodologyThe design of four degrees of freedom low cost, compact and portable manipulation system was proposed to allow the utilisation of commercial robotic surgery forceps like a conventional laparoscopy instrument without the necessity of bulky manipulation systems.ResultsThe structural design of the system was carried out along with necessary kinematic and coupled motion analysis. Prototypes were constructed. Hardware verification of the system was executed using implemented control methodology.ConclusionsThe proposed design successfully demonstrated the advantages of multi degree of freedom robotic surgery forceps in a portable handheld system compared to classical laparoscopy instruments.

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Section: Structural Designmentioning

confidence: 75%

Section: Structural Designmentioning

confidence: 99%

Section: Structural Designmentioning

confidence: 99%

See 1 more Smart Citation