Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots

Background: In recent years, surgical robots have become an indispensable part of the medical field. Surgical robots are increasingly being used in the areas of gynaecological surgery, urological surgery, orthopaedic surgery, general surgery and so forth. In this paper, the development of surgical robots in different operations is reviewed and analysed. In the type of master-slave surgical robotic system, the robotic surgical instrument arms were located in the execution terminal of a surgical robot system, as one of the core components, and directly contact with the patient during the operation, which plays an important role in the efficiency and safety of the operation. In clinical, the arm function and design in different systems varies.Furtherly, the current research progress of robotic surgical instrument arms used in different operations is analysed and summarised. Finally, the challenge and trend are concluded.Methods: According to the classification of surgical types, the development of surgical robots for laparoscopic surgery, neurosurgery, orthopaedics and microsurgery are analysed and summarised. Then, focusing on the research of robotic surgical instrument arms, according to structure type, the research and application of straight-rod surgical instrument arm, joint surgical instrument arm and continuous surgical instrument arm are analysed respectively.Results: According to the discussion and summary of the characteristics of the existing surgical robots and instrument arms, it is concluded that they still have a lot of room for development in the future. Therefore, the development trends of the surgical robot and instrument arm are discussed and analysed in the five aspects of structural materials, modularisation, telemedicine, intelligence and human-machine collaboration. Conclusion:Surgical robots have shown the development trend of miniaturisation, intelligence, autonomy and dexterity. Thereby, in the field of science and technology, the research on the next generation of minimally invasive surgical robots will usher in a peak period of development.

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“…After these improvements and optimisations, the performance of the surgical instrument arm was evaluated more comprehensively. 81…”

Section: Concentric Tube Surgical Instrument Armmentioning

confidence: 99%

Research progress and development trend of surgical robot and surgical instrument arm

Zhang

Haiyuan

Cui

et al. 2021

Robotics Computer Surgery

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“…The i 2 Snake robotic platform has 4 channels within a robotic arm, which allows for 2 robotic instruments, a camera and a light source [ 70 , 71 ]. This system was designed for Ear–Nose–Throat procedures but has potential for more complicated procedures, such as ESD or POEM ( Figure 3 C).…”

Section: Novel Flexible Robots For Ugi Surgerymentioning

confidence: 99%

“… Novel flexible robots: ( A ) EndoMaster’s robotic system (EndoMaster Pte, Singapore) [ 67 ]; ( B ) ENDOSAMURAI TM Olympus Medical Systems Corp. (Tokyo, Japan) [ 69 ]; ( C ) i 2 Snake robot [ 70 , 71 ]; ( D ) Flex ® Robotic System (Medrobotics Corp., Raynham, MA, USA; courtesy of Medrobotics Corp.) [ 72 ]. …”

Section: Figurementioning

confidence: 99%

Frontiers of Robotic Gastroscopy: A Comprehensive Review of Robotic Gastroscopes and Technologies

Marlicz

Ren

Robertson

et al. 2020

Cancers

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Upper gastrointestinal (UGI) tract pathology is common worldwide. With recent advancements in robotics, innovative diagnostic and treatment devices have been developed and several translational attempts made. This review paper aims to provide a highly pictorial critical review of robotic gastroscopes, so that clinicians and researchers can obtain a swift and comprehensive overview of key technologies and challenges. Therefore, the paper presents robotic gastroscopes, either commercial or at a progressed technology readiness level. Among them, we show tethered and wireless gastroscopes, as well as devices aimed for UGI surgery. The technological features of these instruments, as well as their clinical adoption and performance, are described and compared. Although the existing endoscopic devices have thus far provided substantial improvements in the effectiveness of diagnosis and treatment, there are certain aspects that represent unwavering predicaments of the current gastroenterology practice. A detailed list includes difficulties and risks, such as transmission of communicable diseases (e.g., COVID-19) due to the doctor–patient proximity, unchanged learning curves, variable detection rates, procedure-related adverse events, endoscopists’ and nurses’ burnouts, limited human and/or material resources, and patients’ preferences to choose non-invasive options that further interfere with the successful implementation and adoption of routine screening. The combination of robotics and artificial intelligence, as well as remote telehealth endoscopy services, are also discussed, as viable solutions to improve existing platforms for diagnosis and treatment are emerging.

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“…I²Snake’s body consists of 13 three-dimensional (3D) printed steel vertebrae, divided into three sections, with orthogonally arranged rolling joints which are steel tendon–driven. This allows benchtop manipulation forces of 5.6 N 64 and 7 DOFs and a broad range of configurations including S shapes and retroflexion, biomimicking a snake. There are four channels allowing deployment of a camera and light source, two 3.8 mm diameter instruments, and suction and irrigation and incorporated graspers which are also externally actuated with 5 DOFs.…”

Section: Robotic-driven Endoscope Locomotion and Instrumentation Platmentioning

confidence: 99%

The evolution of lower gastrointestinal endoscopy: where are we now?

Sivananthan

Glover

Ayaru

et al. 2020

Clin Med Insights Gastroenterol

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Lower gastrointestinal endoscopy has evolved over time, fulfilling a widening diagnostic and therapeutic remit. As our understanding of colorectal cancer and its prevention has improved, endoscopy has progressed with improved diagnostic technologies and advancing endoscopic therapies. Despite this, the fundamental design of the endoscope has remained similar since its inception. This review presents the important role lower gastrointestinal endoscopy serves in the prevention of colorectal cancer and the desirable characteristics of the endoscope that would enhance this. A brief history of the endoscope is presented. Current and future robotic endoscopic platforms, which may fulfil these desirable characteristics, are discussed. The incorporation of new technologies from allied scientific disciplines will help the endoscope fulfil its maximum potential in preventing the increasing global burden of colorectal cancer. There are a number of endoscopic platforms under development, which show significant promise.

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Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots

Cited by 22 publications

References 29 publications

Research progress and development trend of surgical robot and surgical instrument arm

Research progress and development trend of surgical robot and surgical instrument arm

Frontiers of Robotic Gastroscopy: A Comprehensive Review of Robotic Gastroscopes and Technologies

The evolution of lower gastrointestinal endoscopy: where are we now?

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