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Tendon sheath actuation is widely used in the minimally invasive surgery (MIS) robotic system, particularly in the single port laparoscopy (SPL) and the natural orifice transluminal endoscopic surgery (NOTES) robots. The force propagation from the proximal end to distal end is the most important characters for the tendon sheath actuation, and the friction is a major problem. In this paper, a classical...
This paper presents a viscoelastic model of brain parenchyma which is based on the generalized Maxwell model but considers also inertial force. The proposed model is implemented in finite element method (FEM). The viscoelastic behavior of brain parenchyma was confirmed by stress relaxation tests using porcine brain parenchyma. The stress relaxation characteristics were measured at strain 0.1, 0.2...
In this paper, we present our results on the development of a new generation of instrumented knee implant. The proposed implant would allow for ligament imbalance monitoring and correction in addition to its use as a replacement of human knee joint. The custom-designed tibial component of this implant is equipped with an autonomous force distribution sensor and a millimetric actuating mechanism. The...
In recent years, endovascular interventions have developed rapidly with expected to contribute to improve traditional vascular surgery in the aspects of recovery time and patient safety. Therefore, tracking an accurate position of the guide wire in the coronary artery has become an important area. This paper proposes a guide wire tracking algorithm based on OAC (Open Active Contours). The method focuses...
Conventional concentric tube robots (CTRs) have low dexterity at the tip, which does not fit the requirements of complicated operations in minimally invasive surgery. A 2mm diameter cable-driven micro end effector is designed and fabricated for CTRs to increase dexterity in confined spaces. The end-effector is made by a simple fabrication procedure and is a combination of readily available materials...
Radial distal fracture is commonly found in clinical practice. Compared to surgical treatment, the traditional manual reduction is proved effective and has high efficiency-cost ratio. However, the lack of basic research on biomechanical measurements and analysis of manipulative reduction at home and abroad makes the effect of traditional manual reduction not so satisfying. This paper proposed a novel...
An endoscopic robot capable of assisting medical professionals in the public health sector by providing imaging and biopsy functionalities during Gastrointestinal Tract (GIT) procedures at a reduced cost, was to be designed. The endoscope was designed using soft robotic technology and to use a novel approach to provide robust and precise control over the robot. The design is separated into functional...
Robotically Assisted Minimally Invasive Surgery (RAMIS) offers many advantages over manual surgical techniques. Most of the limitations of RAMIS stem from its nonintuitive user interface and costs. One way to mitigate some of the limitations is to automate surgical subtasks (e.g. suturing) such that they are performed faster while allowing the surgeon to plan the next step of the procedure. One component...
Suturing is a challenging and highly dexterous task in minimally invasive surgery, even with the assistance of robotic surgical systems. In this work, we propose a simple yet versatile impedance virtual fixture framework, which can be applied on the master manipulator in a tele-operated robotic surgical system. With this framework, we further develop two types of virtual fixtures that assist with...
Single port surgery is an innovative approach in the field of minimally invasive surgery. Although several telemanipulators exist to perform operations through only a single incision they all suffer from the lack of haptic feedback. To generate kinesthetic feedback the intracorporeal forces need to be measured, which is a challenging task. To overcome these limitations we investigate in this paper...
We propose a new class of robotic device for minimally-invasive surgery that lies at the intersection of continuum, parallel, and reconfigurable robotics. This Continuum Reconfigurable Incisionless Surgical Parallel (CRISP) paradigm involves the use of multiple needle-diameter devices inserted through the skin and assembled into parallel structures inside the body. The parallel structure can be reconfigured...
This paper presents a grasping force-feedback user interface (GFUI) which transfers the accurate kinesthetic force detected during robot-assisted minimally invasive surgery (RMIS) to a user, and allows the users to perform grasping motions with articulation and intuition. Using the GFUI, a developed robot hardware (S-surge) is controlled, and the force data measured from the robot are reflected to...
Surgeons and robots typically use different approaches for bone milling. Surgeons adjust their speed and tool incidence angle constantly, which enables them to efficiently mill porous bone. Surgeons also adjust milling parameters such as speed and depth of cut throughout the procedure based on proximity to sensitive structures like nerves and blood vessels. In this paper we use image-based bone density...
Motor channelling is a concept to provide navigation and sensory feedback to operators in master-slave surgical setups. It is beneficial since the introduction of robotic surgery creates a physical separation between the surgeon and patient anatomy. Active Constraints/Virtual Fixtures are proposed which integrate Guidance and Forbidden Region Constraints into a unified control framework. The developed...
During the endoscopic sinus and skull base training surgeries, the haptic perception of tool-tissue interaction and even transitions and ruptures in the tissues are fundamental which should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in an ESS procedures. In this article, ex-vivo indentation and...
The aim of this paper is to develop an adaptive force reflection control scheme for dual master nonlinear teleoperation systems. Having a sense of contact forces is very important in applications of dual master teleopreation systems such as surgery training. However, most of the previous studies for dual master nonlinear teleoperation systems are limited in the stability analysis of force reflection...
Recently haptic devices are increasingly used in industry and research. As their applications become widespread, their design is needed to be more efficient. At design stage, determinant features of haptic devices such as rigidity, force bandwidth, accuracy etc. must be considered and improved. Structurally, parallel mechanisms (PMs) are appropriate candidates for haptic devices. Due to multi legged...
To acquire a better understanding of how individuals adapt to knee osteoarthritis (KOA) and assess the effect of TKA, 3D gait analysis was conducted 17 pre-TKA KOA patients, 10 post-TKA KOA patients and 12 age-matched control subjects. Principle component analysis was used to extract waveform characteristics. Improved function was observed after TKA, but the overall lower limb capacity of post-TKA...
A simple and robust fuzzy logic controller with a forbidden region virtual fixture is proposed for a haptic guidance system developed to assist in simulation-based training of laparoscopic surgery. A surgical training system that involves human in the control loop is discussed. It uses a controller which adjusts control outputs for different trainees based on their skill level. The system involves...
Both surgical simulation and robot-assisted surgery require haptic models of tool-tissue interaction for force rendering. Most efforts of haptic modeling have focused on characterizing tool-tissue interaction of soft-tissue indentation, insertion and cutting. Less attention has been devoted to soft-tissue dissection however. For the dissection, haptic models remain elusive to meet two requirements...
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