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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.
Minimally invasive robotic surgery required disposable endoscopie optical coherence tomography (OCT) for high-resolution deep tissue imaging and cross-contamination prevention. Here, we developed a miniaturized plastic lens by injection molding for developing a disposable endoscopie optical coherence tomography system for the first time. Injection molding provided low-cost and high-production rate...
This paper presents the design of a mesoscale robot for laser phonosurgery. The proposed design is situated between conventional mechanism and MEMS technology. A combination of compliant structures and innovative micro motors enables to achieve two decoupled tilting angle, a high range (up to 45°) and a precise positioning of a laser beam. The design methodology and the optimization of the compliant...
Numerous inquiries from K-12 educators across the state of New Jersey have indicated that defining and implementing Science, Technology, Engineering, and Mathematics (STEM) education has become a challenge to the K-12 education sector. Many of these K-12 educators approach STEM disciplines as if each one exists in isolation from the others and they do not integrate the content and skills of the disciplines...
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...
The spatial configuration of actuated flexible instruments is fundamental for control applications in robotic noscar surgery. In these operations, the instruments are inserted in the channels of a flexible guide equipped with an endoscopic camera. In this paper we propose to estimate the position of the instruments of the Anubis platform (Karl Storz) using the endoscopic images provided by the embedded...
Flexible interaction and instruction is a key enabling technology for expanding robotics into small to medium scale manufacturing, in-home assistance for physically disabled individuals, and robotic surgery. In these cases, performing a task manually is neither practical nor scalable, yet complete automation is cost-prohibitive or impossible. Thus, our interest is in collaborative systems that can...
The paper presents the average path estimation algorithm. This algorithm is based on the approximation curve, which shape should by defined as closely as possible to the shape of the analyzed path. With the use of this initial curve, the data space is divided into the intervals. All of the interval paths points are averaged individually. After the calculations, there is only one average point for...
Motion compensation constitutes a challenging issue in minimally invasive beating heart surgery. Since the zone to be repaired has a dynamic behaviour, precision and surgeon's dexterity decrease. In order to solve this problem, various proposals have been presented using ℓ2-norm. However, as they present some limitations in terms of robustness and efficiency, motion compensation is still considered...
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...
Robotic surgery is being used widely due to its various benefits that includes reduced patient trauma and increased dexterity and ergonomics for the operating surgeon. Making the whole or part of the surgical procedure autonomous increases patient safety and will enable the robotic surgery platform to be used in telesurgery. In this work, an Electrosurgery procedure that involves tissue compression...
The lack of haptic feedback has negatively affected the surgeon's ability to palpate and diagnose tissue and differentiate its stiffness during surgical operations with commercially available robotic assisted surgical systems. A modular surgical instrument capable of non-invasive measurement of sideways tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery...
Cochlear implantation requires the placement of an electrode array into the cochlea of patients with severe to profound hearing loss. As the array is placed without direct visualization, robotic guidance has significant potential to improve upon the precision of electrode placement within the cochlea. Here, we evaluate the repeatability of robot-assisted placement of an implant array to an optimal...
This paper presents a system to supervise tissue temperature during robotic laser surgery. The use of robotic systems for laser surgery provides mechanisms to control the motion of the laser beam and the exposure time of laser radiation, allowing the automatic generation of incisions. This work focuses on the perception side of the problem, developing a technology for the online verification of the...
A command and control interface for intraoperative endoscope positioning must be intuitive, simple, intrinsically safe and reliable. Voice commands are widely used in commercial and experimental robotic-assisted remote-controlled surgical systems and must comply with those requirements. This paper presents a design proposal and implementation of an integrated voice-activated control interface as well...
Minimally invasive surgery (MIS) has proven to be beneficial in providing outstanding results for the patients. However, studies have shown that the surgeon faces significant challenges whilst performing this type of surgery, ranging from poorly designed instrument handles, to potential harm to the surgeon due to awkward postures. Deriving from the crucial need to develop surgical instruments that...
Laparoscopic surgery has to be operated with an assistant during surgery, which requires training and high cooperation work between the surgeon and assistants. The objective of this study is to develop a laparoscopic system providing intuitive maneuverability. We develop a Robotic Flexible Laparoscope System (RFLS) with compliance effect including adaptive impedance and velocity control to assist...
Implant positioning is highly depending on the morphological matching between the patient anatomical structure and the implants. This paper is investigating the Asian-specific humeral implant development towards more consistent and accurate implant positioning in minimally invasively ways. Humeral implants are currently readily available and used on patients, however these implants are not compatible...
This paper proposed a novel grasper for a novel master-slave robotic catheter navigation system in Vascular Interventional Surgery (VIS). The developed novel grasper can imitate the catheter grasping motion of the surgeon during VIS. The grasper is a key factor to drive the catheter into the vessel accurately. It adopts a common structure like the pliers, which can guarantee that the catheter can...
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