Strong Continuum Manipulator for Flexible Endoscopic Surgery

Hwang, Myun Joong; Kwon, Dong‐Soo

doi:10.31256/hsmr2017.32

Cited by 7 publications

(8 citation statements)

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“…Since the proposed mechanism in this study was not able to meet the maximum payload requirement in 3.7 mm diameter, we adopted a special joint mechanism, which is called a constrained continuum (CC), to create a large amount of lifting force. The CC mechanism constrains the redundancy of continuum mechanically using auxiliary links to create a larger payload, which resulted in handling a maximum payload of 300 g with a diameter of 3.7 mm . Because the CC joint is limited in one bending motion, it was applied to the surgical instrument of traction to manipulate large organs, while the proposed rolling joint in this study was utilized to the suturing and cauterizing tools with more dexterous operations of two‐directional bending.…”

Section: Methodsmentioning

confidence: 99%

K‐FLEX: A flexible robotic platform for scar‐free endoscopic surgery

Hwang

Kwon

2020

Robotics Computer Surgery

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Background Despite its high lesion accessibility and versatility, endoscopic platforms have suffered from designing flexible manipulators with high payload capability sufficient to perform advanced endoscopic procedures. Methods A flexible robotic platform, K‐FLEX, has been developed with a design of 17 mm in overall diameter. To overcome the shape distortion and deflection in payload handling, a strong continuum manipulator has been designed to have maximum resistance to the distortion. The kinematic analysis and mapping strategy have been established for the master‐slave teleoperation. Results The proposed manipulator has shown 7.5 mm in trajectory variation to lift the weight of 300 g. Finally, the feasibility of the integrated K‐FLEX system has been verified through three kinds of simulated surgical tasks. Conclusions The initial prototype of the proposed robot showed the possibility of advanced endoscopic surgery with improved payload capability.

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Section: Methodsmentioning

confidence: 99%

K‐FLEX: A flexible robotic platform for scar‐free endoscopic surgery

Hwang

Kwon

2020

Robotics Computer Surgery

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“…When the bending angle of Section 1 is 90°, the expanding distance reaches its maximum. In this case, the effect of increasing the distance between the continuum arms is most significant, and the driving wire can be locked stably with less tension 20 . To provide a platform with stable and sufficient load capacity for the continuum arm, the deployable arm is designed to have both force locking and mechanical locking functions.…”

Section: Methodsmentioning

confidence: 99%

“…At this time, the angle range between the end‐effectors is [90.53° 108.8°]. The minimum radius of curvature of the working channel of endoscope under medical requirements is 15 mm 20 . The design of the endoscope experimental platform refers to TransPort (USGI Medical), 10 with an outer diameter of 18 mm.…”

Section: Methodsmentioning

confidence: 99%

“…The minimum radius of curvature of the working channel of endoscope under medical requirements is 15 mm. 20 The design of the endoscope experimental platform refers to TransPort (USGI Medical), 10 with an outer diameter of 18 mm. The diameter of the working channel for the manipulation arms is 6 mm, the diameter of the prototype manipulation arm is 5.7 mm.…”

Section: Design Parameters Of the Instrument Armmentioning

confidence: 99%

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Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

Lei

Song

et al. 2021

Robotics Computer Surgery

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Background Natural orifice transluminal endoscopic surgery (NOTES) is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms. Methods The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end‐effectors and the common workspace of the two manipulation arms are comprehensively analysed. Through experiments, the design parameters are validated and justified. Results The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end‐effectors can be maintained within the range of [88°, 110°]. Conclusions The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.

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“…Robots are increasingly considered solutions to existing problems. For instance, continuum robots are being developed for minimally invasive operations such as endoscopic surgery [1], mechatronic ankle prostheses have been designed to enhance functionality for lower limb amputees [2], and robotic exoskeletons are assisting elderly individuals with age-related motor performance decay [3].…”

Section: Introductionmentioning

confidence: 99%