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For robotic assisted minimally invasive surgery, recovering the 3D soft-tissue shape and morphology in vivo is important for providing image-guidance, motion compensation and applying dynamic active constraints. In this paper, we propose a practical method for calibrating the illumination source position in monocular and stereoscopic laparoscopes. The method relies on using the geometric constraints...
Surgical robotic systems have a great impact on the application of laparoscopic surgeries in the operating room. The advent of externally operated surgical robots has prompted the first significant shift in general laparoscopic surgeries. Miniature in vivo robots that can be completely inserted in to the abdomen are also being studied to reduce patient trauma. Whereas external surgical robots have...
This paper presents a novel air-cushion tactile sensor for minimally invasive surgery that is fully MRI (magnetic resonance imaging) compatible. The proposed sensor is designed to detect tissue abnormalities within soft tissue surfaces. This is achieved by rolling over soft tissue in a virtually frictionless manner due to the design of the sensor in which the sensing element, a sphere, rests on a...
The majority of work related to grasp planning has centered on the understanding of what constitutes a good grasp. However, to reach a good grasp we must first find the relative position of the gripper, its approach vector, and finger configuration. This search problem is the focus of our paper. We propose an on-line method that uses pairwise shape descriptors to quickly find good alignments between...
This paper presents a human-robot interface with perceptual docking to allow for the control of multiple microbots. The aim is to demonstrate that real-time eye tracking can be used for empowering robots with human vision by using knowledge acquired in situ. Several micro-robots can be directly controlled through a combination of manual and eye control. The novel control environment is demonstrated...
We describe a control method, for a surgical robot, which prevents the overload at fragile tissues. In particular, we focused on the control parameter setting method to ensure the robustness of the performance relative to the variation of the organ stiffness parameter. Firstly, we present Position/ Limited Stress control to achieving both precise positioning and prevention of overload. FEM based organ...
We proposed a fabrication method for multiscale transparent arteriole and capillary vessel models and demonstrated the fabrication of microchannels with circular cross sections ??10 - 500 ??m. First, we demonstrated fabrication of ??10 - 500 ??m arteriole and capillary vessel block models using photolithography. The circularity of fabricated ??10, 50, and 500 ??m microchannels were 84.0%, 61.5%, and...
This paper presents a predictive force control approach to compensate for the physiological motion induced by both respiratory and heart beating motions during cardiac surgery. It focuses on the design and implementation of the control algorithm in the context of robotized minimally invasive surgery. The controller is based on a linear predictive control loop using the force information applied on...
This paper is focused on the motion control problem for a laparoscopic surgery robot assistant with an actuated wrist. These assistants may apply non-desired efforts to the patient abdomen. Therefore, this article proposes a control methodology based on three feedback levels, which have been defined as layers. These layers control different aspects of the endoscope movement. A low level assures the...
The development of a novel actuator driven laparoscopic instrument with parallel kinematic instrument tip serves to overcome the workspace restrictions of classic laparoscopic instruments and provides the surgeon multiple degrees of freedom (DOF) inside the patients body.
This paper derives analytic guidelines to tune the popular Position-Force bilateral controller and improve its performance by incorporating available knowledge on the bounds of the environment impedance. The proposed guidelines can prove especially useful in the domain of telesurgery where a need exists for well-understood bilateral teleoperation controllers, that show good performance and where many...
Recently, NOTES (Natural Orifice Translumenal Endoscopic Surgery) has attracted attention as a new approach in laparoscopic surgery. This approach achieves extremely less invasive surgery, however, manipulation of forceps is very difficult in NOTES, which brings more burdens on the surgeons. Under these situations, the aim of this study is to develop a micro mobile robot that could move in the abdominal...
As medical robotics gathers increasing attention, the ergonomics of the surgical-console design becomes an important issue. Motivated by the need of augmenting the surgeon mastery, we explore the capabilities of a near infrared brain-computer interface as a complementary input modality to enhance the human-robot interaction at the robotic console. A multistage analysis framework is proposed and evaluated...
This paper proposes a new user interface based on a maneuver recognition system, which models the surgeon behavior. This interface includes three different modules: data acquisition and coding, training system and on-line recognition system. The aim is defined as recognizing the surgeon movements while is performing a surgical maneuver, by using a 3D surgical tool tracker. The obtained measurements...
In this video we present a physics-based haptic simulation designed to teach basic suturing techniques for simple skin or soft tissue wound closure. The pre-wound suturing target, skin or deformable tissue, is modeled as a modified mass-spring system. The suturing material is designed as a mechanics-based deformable linear object. Tools involved in the live suturing procedures are also simulated....
Minimally invasive surgery (MIS) and robot surgery have opened new ways to perform surgical operations in a safer and simultaneously faster manner. In an effort to follow this minimally invasive trend, this paper presents the feasibility study of a novel fibre-optic catheter prototype. This prototype sensor has the ability to measure forces from the sides and tip. Classification of forces from multiple...
In recent years there has been an ever increasing amount of research and development of technologies and methods to improve the quality and the performance of advanced surgery. In other fields several training methods and metrics have been proposed, both to improve the surgeon's abilities and also to assess her/his skills. For neurosurgery, however, the extremely small movements and sizes involved...
This paper considers robotic automation of a common surgical retraction primitive of exposing an underlying area by grasping and lifting a thin, 3D, possibly inhomogeneous layer of tissue. We present an algorithm that computes a set of stable and secure grasp-and-retract trajectories for a point-jaw gripper moving along a plane, and runs a 3D finite element (FEM) simulation to certify and assess the...
Entry position of the graft is very important in anterior cruciate ligament (ACL) reconstruction. However the determination of entry position is very difficult to the surgeon. In this paper, a navigation and evaluation system assisted by the 6-DOFS robot is implemented for the simulation evaluation and planning insertion points based on quadrant method for the femur and Sta??ublis method for the tibia...
In this paper, we present a novel robotic assistant dedicated to otologic surgery for an implantable hearing aid system, which is a procedure involving drilling into the lateral skull of the patient. This compact and flexible miniature robot is designed so as to fulfill the requirements of precise bone drillings for hearing aid implantation. It is built from an original five degree-of-freedom (DOF)...
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