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The use of robots in surgery is of great research interest following the widespread adoption of da Vinci systems in surgical rooms worldwide. Research interest has grown, as such robot aid still cannot fully perform procedures requiring smaller instruments and more precise movements. In addition to added flexibility, serial-link manipulators can also provide these capabilities for surgical procedures...
We investigated the relationship between workspace reduction due to collisions and the distance between the endoscope and target organ to develop a new algorithm for endoscope navigation in pediatric endoscopic surgery. Proper endoscope position is important for pediatric endoscopic surgery: the endoscope needs to get close to the target organ to obtain a suitable field of view. However, collisions...
A reconfigurable master device has been proposed for a reconfigurable modular surgical robot. A simulation-based experimental setup was developed to evaluate the feasibility of the master device. The time spent to perform a given task, the workload evaluated by the NASA TLX questionnaire, and the preference of the topology indicated by the subjects were used as evaluation items. The preliminary results...
An automated design generation algorithm for a serial kinematic chain is presented for the reconfigurable robot used in a novel endoluminal surgical procedure (European Union project ARES). The algorithm produces the possible topologies, given the design constraints, desired performance, and available modules, such that all constraints are satisfied for every point in the desired workspace. This is...
This paper presents a novel approach toward minimally invasive endoluminal diagnosis and therapy based both on single robotic capsules and combinations of multiple robotic capsules. By considering the peculiar features of the different districts of the gastrointestinal tract and the different tasks to be performed here (i.e. diagnosis or intervention), the authors introduce the multiple (two or more)...
A bending laser manipulator of 2.4 mm in diameter has been developed for intrauterine fetal surgery. This manipulator deflects a laser fiber in any direction thorough 90 degrees. The results of a positioning test and in vitro/in vivo tests are reported. Meanwhile, creep tests for fetal rat tissue of 16 to 20 days in gestation were performed to evaluate fetal tissue fragility. Unique features of fetal...
This paper reports preliminary results on design and fabrication of a cutting tool with an integrated triaxial force sensor to be applied in fetal surgery procedures. The outer diameter of the proposed device is 7.4 mm, but a scaled down design can be easily achieved. Linearity and hysteresis tests have been performed for both normal and tangential loadings. A linear transformation relating the sensor...
A bending laser manipulator has been developed for intrauterine surgery; twin-twin transfusion syndrome (TTTS). TTTS is a condition seen in 10-15% of monochorionic diamniotic twins (a single placenta, separate amniotic sacs) and causes blood volume unbalance between both babies through communicating vessels in the placenta. Although the laser coagulation of communicating vessels in the placenta is...
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