Toward the Development of a Hand-Held Surgical Robot for Laparoscopy

Zahraee, Ali Hassan; Paik, Jamie; Szewczyk, Jérôme; Morel, Guillaume

doi:10.1109/tmech.2010.2055577

Cited by 47 publications

(34 citation statements)

References 21 publications

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“…In partnership with the Endocontrol Company (Grenoble, France), we developed a 5-mm robotized needle holder named ''Jaimy Ò .'' This innovative instrument possesses two intracorporeal DOF, yaw-roll, controlled by a joystick placed on an ergonomic handle [5][6][7]. It can be used by right-and left-handed surgeons.…”

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confidence: 99%

Evaluation of the effect of a laparoscopic robotized needle holder on ergonomics and skills

et al. 2015

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confidence: 99%

Evaluation of the effect of a laparoscopic robotized needle holder on ergonomics and skills

et al. 2015

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“…Intelligent control and navigation methods have been created, allowing robots to enter new application areas and markets [3], [4]. Now, it is common for robotic manipulators to conduct, for instance, surgical tasks in hospitals [5], [6], [21], [22] and scientific tasks in space [7], [23].…”

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confidence: 99%

Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure

Ataollahi

Fallah

Seneviratne

et al. 2014

IEEE/ASME Trans. Mechatron.

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This paper presents a novel approach to force sensing by integrating prismatic-tip optical fibers with an orthoplanar spring structure. The complete force sensing solution integrating the prismatic-tip-based sensing concept with an orthoplanar spring mechanism to convert applied forces into a well-delivered displacement whose magnitude can be measured using the optical sensing technique is introduced in this paper. To the best knowledge of the authors, this is the first time that such a force sensing concept has been proposed and studied. The compact force sensor prototype described in this paper demonstrates its capability and feasibility in performing force measurement over a range of 0-2.8 N. The combination of the novel concepts of prismatic-tip optical fiber sensing and the planar spring minimizes the thickness of the sensing device. Due to its simple sensing structure, the sensor is easy to manufacture and can be miniaturized for applications in dexterous robotic handling and the aerospace industry. The proposed sensor is made of nonmetallic materials and operates without the need of electronics components in the sensing area; thus, the sensor is not susceptible to electric or magnetic fields.

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“…In [36], a minimally invasive surgical gripper was developed. The proposed design is advantageous as it enhances the surgeons' dexterity.…”

Section: Grippers For Known Environmentsmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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Abstract:In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers.

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Toward the Development of a Hand-Held Surgical Robot for Laparoscopy

Cited by 47 publications

References 21 publications

Evaluation of the effect of a laparoscopic robotized needle holder on ergonomics and skills

Evaluation of the effect of a laparoscopic robotized needle holder on ergonomics and skills

Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure

State of the Art Robotic Grippers and Applications

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