The SHURUI System: A Modular Continuum Surgical Robotic Platform for Multiport, Hybrid-Port, and Single-Port Procedures

Chen, Yuyang; Zhang, Chao; Wu, Zhonghao; Zhao, Jiangran; Yang, Bo; Huang, Jiaoling; Luo, Qingquan; Wang, Linhui; Xu, Kai

doi:10.1109/tmech.2021.3110883

Cited by 33 publications

(12 citation statements)

References 33 publications

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“…Only the potential energy of the master manipulator needs to be calculated. The Lagrangian dynamic formulation can be simplified as Equation (6).…”

Section: Gravity Balancementioning

confidence: 99%

“…MIS robots have been widely used in abdominal, urological, and cardiac surgery due to their advantages of dexterous surgery tools, high surgical accuracy, low postoperative infection rate, and fast postoperative recovery 3,4 . Most robots currently used in surgery employ a master/slave relationship with the surgeon seats in front of the working console to drive the master manipulator and visualise the operation with a video screen, while the slave manipulator of the robot is moved under the remote control of the master manipulator 5,6 . According to the requirements of laparoscopic surgery, the master manipulator should meet the following requirements.…”

Section: Introductionmentioning

confidence: 99%

“…manipulator and visualise the operation with a video screen, while the slave manipulator of the robot is moved under the remote control of the master manipulator. 5,6 According to the requirements of laparoscopic surgery, the master manipulator should meet the following requirements. First, it has sufficient workspace and good motion performance.…”

mentioning

confidence: 99%

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Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot

Lei

Song

et al. 2022

Robotics Computer Surgery

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Background:The master manipulator with position and posture decoupling and force feedback can improve the immersion of the operation, and the gravity balance can reduce the fatigue of surgeons.Methods: A seven degree of freedom master manipulator is developed. The parallelogram structure and the angle conversion method contribute to the realization of decoupling position and posture. The calculating method based on the virtual work principle is adopted to achieve the passive gravity balance. The relationship between the master manipulator's joint torque and output force is established to achieve force feedback.Results: A prototype of the master manipulator was built and its performance was experimentally evaluated. The maximum value of the positioning mean absolute error is 1.2 mm. The maximum absolute error of the force-feedback is 0.32 N. Conclusion:With the functions of positioning, gravity balance, and force feedback, our manipulator shows the potential for single port laparoscopic surgery.

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“…Only the potential energy of the master manipulator needs to be calculated. The Lagrangian dynamic formulation can be simplified as Equation (6).…”

Section: Gravity Balancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot

Lei

Song

et al. 2022

Robotics Computer Surgery

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“…is the pseudoinverse of the RCM Jacobian, qr is related to the directional motion, and ˙ is related to the insertion motion. To obtain the value qr , which is used to realize directional (10) e RCM = p c − p RCM , (11) motion, the direction error must be defined. For the rigid segment, its desired direction r s1,z can be easily obtained using the desired position and position of the cervix.…”

Section: Rcm Constraintmentioning

confidence: 99%

“…Several robotics systems have been designed by researchers for diverse surgeries [8][9][10][11]. The Da Vinci surgical system is the most successful commercial surgical robot.…”

Section: Introductionmentioning

confidence: 99%

A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

Wang

et al. 2022

Chin. J. Mech. Eng.

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Surgical robots have been widely used in different procedures to improve and facilitate the surgery. However, there is no robot designed for endometrial regeneration surgery, which is a new therapy for restoring fertility in women using stem cells. Endometrial regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the uterus. In this paper, we introduce a surgical robotic system that consists of a dexterous hysteroscope, supporting arm, and additional novel instruments to facilitate the operation and decrease trauma to the uterus. Remote center of motion (RCM) constraint is required to protect the cervix of the uterus. First, the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are predictable. Then, a task-decoupled method is used to improve the robustness of the RCM constraint. Experiments confirm that the proposed method is more robust and achieves higher RCM accuracy. In addition, the master-slave control of a robot with RCM constraint is also verified. This study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

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A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization

Zhou,

Wang,

et al. 2024

Advanced Intelligent Systems

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3D tracking of single‐port continuum surgical tools is an essential step toward their closed‐loop control in robot‐assisted‐laparoscopy, since single‐port tools possess multiple degrees‐of‐freedom (DoFs) without distal joint sensors and hence have lower motion precision compared to rigid straight‐stemmed tools used in multi‐port robotic laparoscopy. This work proposes a novel markerless 3D tracking framework for continuum surgical tools using a proposed surgical tool partial pose estimation network (STPPE‐Net) based on U‐Net and ResNet. The STPPE‐Net estimates the segmentation and a 5‐DoF pose of the tool end‐effector. This network is entirely trained by a synthetic data generator based on domain randomization (DR) and requires zero manual annotation. The 5‐DoF pose estimation from the STPPE‐Net is combined with the surgical tool axial rotation from the robot control system. Then, the entire pose is further refined via a region‐based optimization that maximizes the overlap between the tool end‐effector segmentation from the STPPE‐Net and its projection onto the image plane of the endoscopic camera. The segmentation accuracy and 6‐DoF pose estimation precision of the proposed framework are validated on the images captured from an endoscopic single‐port system. The experimental results show the effectiveness and robustness of the proposed tracking framework for continuum surgical tools.

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The SHURUI System: A Modular Continuum Surgical Robotic Platform for Multiport, Hybrid-Port, and Single-Port Procedures

Cited by 33 publications

References 33 publications

Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot

Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot

A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization

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