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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...
A five degree-of-freedom (DOF) miniature parallel robot has been developed to precisely and safely remove the thin internal limiting membrane in the eye ground during vitreoretinal surgery. A simulator has been developed to determine the design parameters of this robot. The developed robot's size is 85 mm × 100 mm × 240 mm, and its weight is 770 g. This robot incorporates an emergency instrument retraction...
This paper presents a novel master-slave teleoperated robotic platform designed for Single Port Laparoscopy. The SPRINT (Single-Port lapaRoscopy bimaNual roboT) is composed of two high-dexterity 6 Degrees of Freedom (DOFs) robotic arms, a stereoscopic camera and a dedicated console for the robot control by the surgeon. Along with a short summary of the hardware features of the system, this paper describes...
During surgical procedures, various medical systems (e.g. microscope or C-arm) are used. Their precise and repeatable manual positioning can be very cumbersome and interrupts the surgeon's workflow. Robotized systems can assist the surgeon but they require suitable kinematics and control. However, positioning must be fast, flexible and intuitive.
This paper discusses the absolute positioning accuracy of a medical robotic system for minimally invasive spine surgery (MISS). First, the system architecture and main working flow are briefly introduced. Then, according to the requirement of MISS operation, a five-degree-of-freedom (5-DOF) operating mechanism is designed and developed for such applications, and a detailed analysis has been performed...
Recently, robotic surgical assistance systems are in clinical use in the field of minimally invasive surgery. We have developed a multiDOF robotic forceps manipulator using a novel omnidirectional bending technique, so far. The developed robotic forceps can bend without using wires. Without wires, it has high rigidity, and it can bend at 90 degrees in any arbitrary direction. The purpose of this paper...
This paper evaluates and improves the capability of the endoscopic surgical robot AESOP (ComputerMotion Inc., Goleta, CA, USA) to carry out tasks autonomously. First, the Cartesian position accuracy of the robot is measured using an optical tracking system. Since the obtained results are not satisfactory, the tracking system is then used to correct the position of the robot. Two approaches are presented:...
The authors have developed a real-time mandibular motion analysis system. A nonrestraining extraoral harness carries a set of light-emitting diodes (LEDs), whose movements are detected by photodiode detectors interfaced to a personal computer. Mandibular motions are computed rigorously in three dimensions. Movements at various points on the mandible are displayed on a graphics monitor. The system...
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