Roboscope: A flexible and bendable surgical robot for single portal Minimally Invasive Surgery

Rosén, Jacob; Sekhar, Laligam N.; Glozman, Daniel; Miyasaka, Muneaki; Dosher, J.; Dellon, Brian; Moe, Kris S.; Kim, Aylin; Kim, Louis J.; Lendvay, Thomas S.; Li, Yangming; Hannaford, Blake

doi:10.1109/icra.2017.7989274

Cited by 31 publications

(16 citation statements)

References 15 publications

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“…Each point in Figures and was obtained by linearly fitting a series of force‐displacement experimental points (see Section 2.3): the related goodness‐of‐fit ( R ) was 0.93 ± 0.08 for axial bending and 0.92 ± 0.07 for cross‐axial bending. Please notice that the LT/LT 0 span in Figure (Figure ) decreases when passing from A1 (CA1) to A4 (CA4) due to the trivial scaling effect of LT 0 and because of the increasingly reduced margin with respect to the workspace boundary.…”

Section: Resultsmentioning

confidence: 99%

“…1 A number of bendable manipulators were proposed for interventions when the target is not in straight-line access. Commonly, a distinction is made between articulated systems (manipulators composed of discrete rigid links connected by joints 2,3 ) and continuum systems (manipulators typically featuring an elastic structure, 4 whose deformed shape can be swept with continuous tangent frame 5 ). In addition, a few "hybrid" articulated/continuum designs have been recently proposed.…”

Section: Introductionmentioning

confidence: 99%

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Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery

Tamadon

Huan

Groot

et al. 2020

Robotics Computer Surgery

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Background Hollow, bendable manipulators can advance implant delivery in minimally invasive surgery, by circumventing the drawbacks of straight‐line delivery and fostering single‐port approaches. Variable stiffness manipulators are sought to be safe and effective. Methods We designed and experimentally assessed a cable‐driven articulated/continuum manipulator, devised for cardiac valve delivery. Positioning and stiffening were teleoperated, based on cable shortening. Stiffening was parameterized by using the leading tension (LT, ie, tension of the cables driving bending). We assessed positioning (repeatability/reversibility along eight/two bending directions) and stiffening (eight bent configurations). Results We achieved good repeatability and reversibility (mean errors <1% and 1.5%, respectively, of the workspace characteristic length). Stiffening was effective (up to 9‐fold increase, depending on pose). Stiffening was linearly correlated (R2 = 0.92) with LT for all the considered configurations. Conclusion We accurately positioned and effectively stiffened the manipulator in several bent configurations. The proposed stiffness modulation strategy can be extended to other manipulators.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery

Tamadon

Huan

Groot

et al. 2020

Robotics Computer Surgery

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“…Several groups citing the Raven system have developed complete or nearly complete surgical robotic systems [6][7][8][9][10][11][12]. These systems often address new surgical procedures (such as pediatric cases or needle guidance) [6,9,10] novel delivery modes [8] or integration of industrial manipulators into surgery [12] Numerous groups have developed new hardware influenced by the Raven design [12][13][14][15][16][17][18][19][20][21][22] or focused on numerical optimization of mechansims [23]. Key aspects of these designs are minimally invasive character, often making a contribution such as novel mechanisms for decoupling motion at the laparoscopic entry port [13], decoupling drive axes [16], or reducing weight and size [19].…”

Section: Research Citing Raven But Not Using Ravenmentioning

confidence: 99%

The Raven Open Surgical Robotic Platforms: A Review and Prospect

2019

APH

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The Raven I and the Raven II surgical robots, as open research platforms, have been serving the robotic surgery research community for ten years. The paper 1) briefly presents the Raven I and the Raven II robots, 2) reviews the recent publications that are built upon the Raven robots, aim to be applied to the Raven robots, or are directly compared with the Raven robots, and 3) uses the Raven robots as a case study to discuss the popular research problems in the research community and the trend of robotic surgery study. Instead of being a thorough literature review, this work only reviews the works formally published in the past three years and uses these recent publications to analyze the research interests, the popular open research problems, and opportunities in the topic of robotic surgery.

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“…Miniaturization has become an important research direction in surgical robot technology. Rosen et al [17] proposed a small, bendable surgical robot for single-portal minimally invasive surgery. Zemiti et al [18] developed a compact, lightweight robot that is mounted directly on the patient's body.…”

Section: Introductionmentioning

confidence: 99%

System Design of a Novel Minimally Invasive Surgical Robot That Combines the Advantages of MIS Techniques and Robotic Technology

Zhang

Kong

et al. 2020

IEEE Access

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Existing minimally invasive surgical (MIS) robots are generally large, complex and expensive, which greatly increases the operation cost and limits the applications of MIS robot technology. To solve these problems, a small table-attached MIS robot that combines the high efficiency of the traditional MIS technique and the dexterity of robotic operations is proposed in this paper. The master and slave manipulators of the new robot are integrated, which allows the surgeon to manipulate the robot next to the operation table. Moreover, the novel design can be used with existing MIS instruments, providing surgeons dexterous operation and intuitive motion control with guaranteed operation efficiency. To simplify the structure of the robotic system, a multistage cable transmission structure is established. In addition, to reduce the difficulty of operations, especially suturing operations, a novel surgical instrument is developed with a ''roll-pitch-distal roll'' wrist and a quick-exchange interface. To overcome the uncoordinated hand-eye movement caused by the fulcrum effect, a motion mapping model is established for the robot. A prototype of the robot is developed and subsequently subjected to various tests. The results show that the instrument quick-exchange time is less than 20 s and that the maximum position and orientation trajectory errors are 0.46 mm and 0.87 • , respectively. Finally, the feasibility and effectiveness of the proposed MIS robot are systematically verified through an in vivo animal experiment. INDEX TERMS Animal experiment, cable transmission, MIS robot, motion mapping.

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Roboscope: A flexible and bendable surgical robot for single portal Minimally Invasive Surgery

Cited by 31 publications

References 15 publications

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery

The Raven Open Surgical Robotic Platforms: A Review and Prospect

System Design of a Novel Minimally Invasive Surgical Robot That Combines the Advantages of MIS Techniques and Robotic Technology

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