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This paper presents a performance assessment of a highly complex wire-driven mechanical system in a surgical robot, MU-LapaRobot. The MU-LapaRobot is a collaborative surgical robot, developed for ongoing robotic research for laparoscopic surgical application. The MU-LapaRobot consists of 1-DOF passive joint for vertical motion, 2-DOF passive boom for planar motions and 4-DOF active surgical tool-holder...
SPL (Single Port Laparoscopy) might generate better surgical outcomes than multi-port laparoscopy. Hence it draws continuous attentions in the past several years. Due to its operative difficulties, several robotic systems were constructed to help surgeons with the surgical manipulation tasks. The SURS (SJTU Unfoldable Robotic System) for SPL is then proposed, aiming at introducing several improvements...
Remote center of motion (RCM) mechanisms are widely used in surgical robots to mechanically constrain the position of a certain point in the operation space. Examples of well-known RCM mechanisms include parallelogram mechanisms, spherical linkages, circular guiding arcs, etc. In this paper, a reinforced circular-guided RCM mechanism is presented. In the mechanism, a closed-looped circular-guiding...
Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of...
During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed...
The present generation of surgical tools is reliant on drills and cutting tools that cannot navigate through small corners present in complex bones such as the spinal column. This paper summarizes the development of a flexible robotic surgical system to be used in minimally invasive spinal surgery (MISS), targeting the removal of cancerous tissue. The cutting system consists of a flexible drill and...
The Endonasal endoscopic transsphenoidal surgical system will be presented in this study. The Endonasal transsphenoidal surgery (ETSS), a process to approach and remove pituitary tumor, is less invasive, and causes less pain and faster recovery than the old process (Craniotomy surgery). However, the optic nerves, cavernous sinuses and carotid arteries are intimately next to the pituitary gland. A...
The goal in minimally-invasive surgery like NOTES (natural orifice transluminal endoscopic surgery), or single-port surgery, through one artificial incision, is to reduce the operative and post-operative stresses for the patients. Today's challenges for physicians during procedures are the missing mobility of the used flexible instruments inside the human body. Primarily the missing ability to manipulate...
Designing a robotic system for surgical procedures is always challenging. Reliability, integration in the operating room and intuitive use even in stressful situations are some major requirements. Our project aims at the improvement of two widespread interventions in minimally invasive surgery (MIS): the endoscopic submucosal dissection (ESD) and the laparoscopic sigmoid resection (LSR). We develop...
In neurosurgery, effects of deformation should be considered to avoid damaging brain tissues. The goal of this study is to develop an automatic path planner considering the deformation of brain tissues. This paper shows a scheme which combines FEM (Finite Element Method) and an optimization method for optimization of retraction in order to approach a deep part of a brain. Also, evaluations of two...
Nowadays robot-assisted minimally invasive surgery (MIS) is popular because of numerous benefits to patients. However, the surgical performance evaluation methods have always failed to catch up with the development speed of surgical robot system technology. In this paper, a method ‘SOE’ to evaluate surgeons' robot-assisted MIS operation skill is provided. On the basis of third-person data and first-person...
Robot-assisted Cardiac Surgery has remarkably helped surgeons to operate on a beating heart. The robot is preferred to move simultaneously with a point of interest (POI) on the heart surface such that surgeons are enabled to operate as if the heart is stationary. Hence an output regulation technique is proposed in this paper for the surgical robot to track the heart motion without exactly knowing...
Dissection and removal of lesion area are fundamental operations in brain surgery. In order to correctly reproduce dissection and removal in brain surgery haptic simulation, mechanical properties of brain tissue must be investigated. In this work, porcine brains are used as specimens. Mechanical properties such as density, Poisson's ratio, Young's modulus, damping coefficient, and fracture stress...
This paper presents the point-tracking strategy of master-slave robotic catheter intervention, which integrates with the distal/proximal and virtual force. First, the mapping between the motion space of master handle and the space of vascular model is built up. Second, the close-loop control based on the inverse kinematics is developed with the compensation of backlash. Third, proximal force, distal...
Morbus Parkinson is a widespread disease amongst the elderly people. With increasing life expectancy the numbers of patients with Parkinsons disease are rising. Over the last decade, Deep Brain Stimulation (DBS) of certain nuclei within the basal ganglia has been established as an effective treatment for patients with advanced Parkinsons disease (PD) and motor complications not longer adaequatly treated...
Intelligent robots have been using widely in medical field for the high precision, long working period, and lower costs. The integration of teleoperation system into surgical robots makes the remote surgery possible. This paper focuses on the force feedback and intelligent motion planning that enables master-slave control of heterogeneous manipulators. The slave arm works in a different scene from...
This paper mainly introduces a kind of auxiliary robot for craniofacial plastic surgery. It contains mechanism design of the robot, the design of the control system, and experimental verification in order to prove the effectiveness of drilling bone. The robot make use of the stability and accuracy of the motor movement, combining with the 2D/3D imaging techniques, through the pressure sensor, position...
Velocity control is one of important manipulate methods in terms of tele-operation applications, especially in minimally invasive robotic surgery. The input of the user (doctor) is always with the highest hierarchy in the control loop, however the poor force feedback and limited visual cues may cause inappropriate decision-making. In this paper, a virtual constraint of velocity based on fuzzy logic...
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