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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...
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...
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...
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...
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...
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...
Mass Spring Model (MSM) is widely used in the simulation of soft tissue deformation due to its high efficiency. However, the anisotropie property of soft tissue challenges such a simulation. This manuscript proposed an improved MSM by taking into consideration of anisotropie property. Firstly, the anisotropie property of soft tissue is investigated. Then, the parameters of MSM are set according to...
Flexible endoscope has widely been used to investigate interior of hollow organ or abdominal cavity. As technology of medical device advances, the area of endoscopy becomes much wider. Currently it is not limited to diagnosis or biopsy, but is expanded to complicate technique or even surgery, for example, NOTES (Natural Orifice Transluminal Endoscopie Surgery). In that NOTES makes no external incision...
This paper introduces a robotic approach for colonoscopy. 4 DOF haptic master device and slave device were designed by analyzing the movement of surgeon. The force or torque felt during insertion of the endoscope tube is feedback to the master device for providing the operator with haptic feeling and preventing damage of the inner surface of the large intestine.
This paper presents a new circuit realization of force sensing interface module strategy for surgical robot. Using analog-to-digital conversion, digital-to-analog conversion and mux IC, the full scaled and high resolution (14bit) sensed interface board has been developed. The very small micro-controller was used for the implementation of the embedded board is limited 05.5 diameter. The auto calibration...
Novel robotized and haptic technologies are popular among the bio medical research areas due to its precision in operation. This paper presents haptic implementation to orthopedic surgeries which requires high skilled process. Due to the diversity of human bone it is very difficult to make accurate decisions. Therefore orthopedic drill with haptic interface is very important to make real time decision...
This paper describes the applicability of an asymmetric f orce f eedback control framework for bimanual robot-assisted surgery using the da Vinci surgical system (Intuitive Surgical Inc.). The core idea of this method, previously presented in [1], is that when completing two-handed tasks involving an action and a reaction force, the forces applied on the environment by the action hand are not transferred...
The Stapedotomy is a standard ENT (ear, nose and throat) surgery, where the surgeons use surgical micro hooks and forceps to replace the stapes with a small titanium implant. However, there are some challenges with this procedure. Especially, the non-ergonomic posture of the surgeon increases the hand tremor and leads to an inaccurate positioning of the implant. This may cause hearing loss and the...
Remote surgery has attracted great interest in recent decades because it has the potential to improve equality of access to health care. However, remote surgery has not been approved in any country, since patient safety cannot be guaranteed. In this paper, we present a hybrid control system for master-slave velocity control and admittance control for safe remote robotic surgery. The proposed controller...
In hands-on robotic surgery, the surgeon controls the motion of a tool mounted on the end effector by applying forces directly to the robot. The mass and inertia properties of the robot at the end effector thus contribute to the ability of the surgeon to move the tool and consequently, the performance of the surgery. As redundant robots have varying mass/inertia properties for different configurations...
This paper presents an implementation and evaluation of the Robotic ENT Microsurgery System (REMS). The implementation is discussed in reference to analysis from previous work, and evaluated using a simulated surgical task designed to resemble microlaryngeal phonosurgery. Preliminary technical evaluations of resolution and accuracy are also presented. The results of the evaluations reveal that the...
Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally-and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators...
During Total Knee Arthroplasty surgery, the orthopaedic surgeon has to set up proper balance conditions for the two lateral ligaments of the knee. Such ligament tensioning procedure is performed manually and mainly depends on the surgeon's experience. Unfortunately, inaccuracies are unavoidable and may give rise to serious postoperative complications. In the worst-case scenario, the only solution...
Vertebroplasty and kyphoplasty are commonly used minimally invasive methods to treat vertebral compression fractures. Novice surgeons gather surgical skills in different ways, mainly by “learning by doing” or training on models, specimens or simulators. Currently, a new training modality, an augmented reality simulator for minimally invasive spine surgeries, is going to be developed. An important...
Miniaturized surgical robotic system presents promising trend for reducing invasiveness during operation. However, cables used for power and communication may affect its performance. In this paper we chose Zigbee wireless communication as a means to replace communication cables for miniaturized surgical robot. Nevertheless, time delay caused by wireless communication presents a new challenge to performance...
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