The MUSHA Hand II: A Multi-Functional Hand for Robot-Assisted Laparoscopic Surgery

Liu, Huan; Selvaggio, Mario; Ferrentino, Pasquale; Moccia, Rocco; Pirozzi, Salvatore; Bracale, Umberto; Ficuciello, Fanny

doi:10.1109/tmech.2020.3022782

Cited by 19 publications

(12 citation statements)

References 41 publications

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“…In this category, publications include works focusing on the design and integration of new tools compatible with the dVRK: new surgical instruments [108]- [112], [115], [116], [123], [129], [130], [160], [194], [206], [207], [214], [249], [250], [252], and new sensing systems [73], [74], [180], [198], [248]. New flexible endoscopes and vision devices have also recently been proposed in [244] and [245].…”

Section: New Surgical Toolsmentioning

confidence: 99%

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

D'Ettorre

Mariani

Stilli

et al. 2021

IEEE Robot. Automat. Mag.

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This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.R obotic-assisted surgery is now well established in clinical practice and has become the gold-standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade, with a range of new robotic devices emerging to address unmet clinical needs across different specialties. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to repurpose decommissioned da Vinci surgical systems [Intuitive Surgical Inc. (ISI), California, USA] as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this article, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain and build upon this initiative.

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Section: New Surgical Toolsmentioning

confidence: 99%

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

D'Ettorre

Mariani

Stilli

et al. 2021

IEEE Robot. Automat. Mag.

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show abstract

“…While several studies indicated potential benefits of haptic feedback [75][76][77], the development of suitable costeffective, sterilizable or disposable miniaturized sensors for the integration into robotic instruments still remains a technological challenge [78][79][80]. However, some interesting concepts for a novel force-sensing laparoscopic instrument and the integration of force sensing capabilities into the trocar have been developed recently [81,82]. -Novel imaging sensors and augmented reality: The intraoperative use of novel imaging sensors (e.g.…”

Section: Adequate Information For the Surgeonmentioning

confidence: 99%

An Introduction to Robotically Assisted Surgical Systems: Current Developments and Focus Areas of Research

et al. 2021

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Purpose of Review Robotic assistance systems for diagnosis and therapy have become technically mature and widely available. Thus, they play an increasingly important role in patient care. This paper provides an overview of the general concepts of robotically assisted surgical systems, briefly revisiting historical and current developments in the surgical robotics market and discussing current focus areas of research. Comprehensiveness cannot be achieved in this format, but besides the general overview, references to further readings and more comprehensive reviews with regard to particular aspects are given. Therefore, the work at hand is considered as an introductory paper into the topic and especially addresses investigators, researchers, medical device manufacturers, and clinicians, who are new to this field. Recent Findings The current research in Robotically Assisted Surgical Systems (RASS) increasingly uses established robotic platforms. To minimize the patient trauma while optimizing the dexterity of the surgeon, miniaturized instruments and semi-autonomous assistance functions are developed. To provide the surgeon with all necessary information in an adequate manner, novel imaging sensors as well as techniques for multimodal sensory feedback and augmented reality are investigated. The Surgical Data Science applies data management and processing approaches including machine learning on medical data to provide optimal, individualized and contextual support to the surgeon. Summary Robotic systems will significantly influence future patient care. Since they must fulfill manifold medical, technical, regulatory and economic requirements, their development calls for a close, active and interdisciplinary cooperation between stakeholders from hospitals, industry and science.

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“…According to Liu et al (2019), and as anticipated in Section 1, the tool is a three-fingered underactuated miniature hand, each finger is composed of 12 segments and connected with a one DoF wrist, the kinematic model is composed of 37 joints connected by 36 links. An optoelectronic force sensor is designed, calibrated and presented in Liu et al (2020), and located at the tip of each finger. In the range of the sensors, equal to 4 N, the maximal error on x-, y-, and z-direction is 0.28, 0.24, and 0.75 N, respectively.…”

Section: Musha Hand Modellingmentioning

confidence: 99%

“…Introducing extra degrees of freedom requires the development of suitable control (Gioioso et al, 2013;Meeker et al, 2018), or the development of alternative control consoles to move them independently. For instance, the MUSHA hand (depicted in Figure 1) is a three-soft-finger robotic gripper for surgical application (Liu et al, 2020). It is developed to be connected with the da Vinci robot, but it has more degrees of actuation (DoA) than DoFs of surgeon console interface.…”

Section: Introductionmentioning

confidence: 99%

A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case

et al. 2021

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This work presents a novel technique to control multi-functional hand for robot-assisted laparoscopic surgery. We tested the technique using the MUSHA multi-functional hand, a robot-aided minimally invasive surgery tool with more degrees of freedom than the standard commercial end-effector of the da Vinci robot. Extra degrees of freedom require the development of a proper control strategy to guarantee high performance and avoid an increasing complexity of control consoles. However, developing reliable control algorithms while reducing the control side’s mechanical complexity is still an open challenge. In the proposed solution, we present a control strategy that projects the human hand motions into the robot actuation space. The human hand motions are tracked by a LeapMotion camera and mapped into the actuation space of the virtualized end-effector. The effectiveness of the proposed method was evaluated in a twofold manner. Firstly, we verified the Lyapunov stability of the algorithm, then an user study with 10 subjects assessed the intuitiveness and usability of the system.

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The MUSHA Hand II: A Multi-Functional Hand for Robot-Assisted Laparoscopic Surgery

Cited by 19 publications

References 41 publications

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

An Introduction to Robotically Assisted Surgical Systems: Current Developments and Focus Areas of Research

A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case

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