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BackgroundKinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities.
MethodsHundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic...
BackgroundThis study aimed to describe the state of the art in surgical robotics for spinal interventions, a challenging problem for which robots can provide valuable assistance.
MethodsMultiple electronic databases were searched for articles published during the last 10 years (2002–2012). Results were refined by defined inclusion criteria.
ResultsA total of 18 different robots were found. Among them,...
Nowadays robots play an important role in society, mainly due to the significant benefits they provide when utilized for assisting human beings in the execution of dangerous or repetitive tasks. Medicine is one of the fields in which robots are gaining greater use and development, especially those employed in minimally invasive surgery (MIS). However, due to the particular conditions of the human...
This article proposes a novel dexterous endoscopic parallel manipulator for minimally invasive surgery. The proposed manipulator has 3 degrees of freedom (3‐DOF), which consist of two rotational DOFs and one translational DOF (2R1T DOFs). The manipulator consists of 3 limbs exhibiting identical kinematic structure. Each limb contains an active prismatic joint followed by 2 consecutive passive universal...
Background
Despite its high lesion accessibility and versatility, endoscopic platforms have suffered from designing flexible manipulators with high payload capability sufficient to perform advanced endoscopic procedures.
Methods
A flexible robotic platform, K‐FLEX, has been developed with a design of 17 mm in overall diameter. To overcome the shape distortion and deflection in payload handling,...
Background
Uterus manipulation is a lengthy and tedious task that is usually performed by a human assistant during laparoscopic hysterectomy. Note that the performance of the assistant may decrease with time. Moreover, under this approach, the primary surgeon does not have direct control over the uterus position. He/she can only verbally request the assistant to place it on a particular configuration...
Purpose
Endoscopic sinus surgery (ESS) has been recognized as an effective treatment modality for paranasal sinus diseases. Over the past decade, continuum robots (CRs) for ESS have been studied, but there are still some challenges. This paper presents a review on the scientific studies of CRs for ESS.
Methods
Based on the analysis of the anatomical structure of the paranasal sinus, the requirements...
In recent decades, a number of surgical systems have been developed and are applied for a growing variety of surgeries. This review will consider the significant challenges of robotic surgery for the eye. These challenges take into account the different eye diseases, available technologies, and costs in different surgical systems for the eye. The conditions of a suitable controller will be discussed...
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