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Master manipulator designed for highly articulated robotic instruments in single access surgery

Piyamate Wisanuvej, Gauthier Gras, Konrad Leibrandt, Petros Giataganas, Carlo A. Seneci, Jindong Liu, Guang-Zhong Yang
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper, a novel joint-space master manipulator is presented. This manipulator emulates the kinematic structure of highly flexible surgical instruments which it is designed to control.  ...  Master manipulators generating commands in task space represent a commonly adopted solution for controlling a range of slave robots while retaining an ergonomic design.  ...  In previous work, the authors designed highly articulated surgical instruments with 7 degrees of freedom (DoFs) for single access surgery [2] .  ... 
doi:10.1109/iros.2017.8202159 dblp:conf/iros/WisanuvejGLGSLY17 fatcat:5gowq37xcfd6lefe7bntcznxhu

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

Joonhwan Kim, Michel de Mathelin, Koji Ikuta, Dong-Soo Kwon
2022 Proceedings of the IEEE  
This article covers the key technical issues in flexible surgical robotics, such as manipulator design, modeling, and control, and it introduces emerging flexible technologies organized according to their  ...  target application in the endoluminal surgical field.  ...  survey on key technical issues and flexible robot systems.  ... 
doi:10.1109/jproc.2022.3170109 fatcat:72kuf22csfgptbygasoj63z7xq

Kinematics, control and workspace analysis of a bowden wire actuated manipulator for minimally invasive single-port surgery

S. Can, B. Jensen, E. Dean-Leon, C. Staub, A. Knoll, A. Fiolka, A. Schneider, A. Meining, H. Feussner
2012 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
This work presents the kinematics and control of a 6DOF manipulator for single-port surgery.  ...  Two such highly versatile manipulators and a semi-rigid telescope are combined in a unit that can be inserted through a 30mm incision into the abdominal cavity.  ...  A new design proposed for single-port access surgery is described in IREP [10] .  ... 
doi:10.1109/robio.2012.6491074 dblp:conf/robio/CanJDSKFSMF12 fatcat:voihmbt3tvfh5cux2mwf5ru7le

Flexible platforms for natural orifice transluminal and endoluminal surgery

Nisha Patel, Carlo Seneci, Guang-Zhong Yang, Ara Darzi, Julian Teare
2014 Endoscopy International Open  
Robots like the Flex System (Medrobotics, Raynham, MA, USA) and the highly articulated robotic probe (HARP) have been designed for surgery in difficult-to-reach anatomic areas, such as the oropharynx and  ...  Master-slave system for NOTES (IRCAD, Strasbourg, France) This master-slave tele-operated robot was designed in collaboration with Karl Storz.  ... 
doi:10.1055/s-0034-1377171 pmid:26135256 pmcid:PMC4423273 fatcat:2jdesxc2pbbrrijonw5we3djo4

Surgical Robot for Intraluminal Access: An Ex Vivo Feasibility Study

Ryu Nakadate, Tsutomu Iwasa, Shinya Onogi, Jumpei Arata, Susumu Oguri, Yasuharu Okamoto, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume
2020 Cyborg and Bionic Systems  
To facilitate easier manipulation of these flexible devices, we developed a surgical robot comprising a flexible endoscope and two articulating instruments.  ...  In this study, we performed an ex vivo feasibility evaluation using the proposed robotic system for ESD in a porcine stomach.  ...  In contrast to robots designed for laparoscopic surgery, which have been used routinely for many years [6] , robotics for flexible endoscopy is a relatively new field.  ... 
doi:10.34133/2020/8378025 fatcat:bra7fly6cnac3idsapbgq6ppgi

The future of robotic surgery

Andrew Brodie, Nikhil Vasdev
2018 Annals of the Royal College of Surgeons of England  
The platform includes two laparoscopic handles manipulating two articulated instruments inserted through a single port.  ...  The system's unique features include access through a 25mm single port; introduction of 3 6mm articulated arms with surgical instrument end effectors; 8mm articulating 3D-HD camera; slim-lined single-arm  ... 
doi:10.1308/rcsann.supp2.4 pmid:30179048 pmcid:PMC6216754 fatcat:3nt5bwfbczesbgjj2xb67zr73e

The "Highly Versatile Single Port System" for laparoscopic surgery: Introduction and first clinical application [chapter]

S. Can, H. Mayer, A. Fiolka, A. Schneider, D. Wilhelm, H. Feussner, A. Knoll
2009 International Federation for Medical and Biological Engineering Proceedings  
In addition a single port access, attaining "high flexibility" in laparoscopic interventions is also of utmost importance.  ...  In minimally invasive surgery, trauma to the patient can be reduced by diminishing the number of entry ports.  ...  ACKNOWLEDGMENT We gratefully thank Karl Storz GmbH in Tuttlingen for their support and providing the mechanical hardware. This project was supported in part by the Bavarian Research Foundation (BFS).  ... 
doi:10.1007/978-3-540-89208-3_392 fatcat:qgpuh7qw6nd2jj4tdjigqko6cq

Implicit gaze-assisted adaptive motion scaling for highly articulated instrument manipulation

Gauthier Gras, Konrad Leibrandt, Piyamate Wisanuvej, Petros Giataganas, Carlo A. Seneci, Menglong Ye, Jianzhong Shang, Guang-Zhong Yang
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
This configuration can be ill-suited for working in tight spaces or during single access approaches, where little to no triangulation between the instrument shafts is possible.  ...  Traditional robotic surgical systems rely entirely on robotic arms to triangulate articulated instruments inside the human anatomy.  ...  Previous work on highly dexterous instruments has studied the control challenges of such devices in single access surgery [7] , [8] , [9] .  ... 
doi:10.1109/icra.2017.7989488 dblp:conf/icra/GrasLWGSYSY17 fatcat:l5dadbjqmfcjna7zfa2w6ysexa

Technological Advances in Robotic-Assisted Laparoscopic Surgery

Gerald Y. Tan, Raj K. Goel, Jihad H. Kaouk, Ashutosh K. Tewari
2009 Urologic clinics of North America  
(Sunnyvale, California) and MIMIC Technologies (Seattle, Washington) for their invaluable constructive input and use of their illustrations for this article.  ...  all-round real-time images and robotic manipulators that would obviate the need for multiple incision sites for instrument access.  ...  or three robotic arms for instrument manipulation.  ... 
doi:10.1016/j.ucl.2009.02.010 pmid:19406324 fatcat:oyxq46ywrrh4dfb6gxyyrcrh3y

Emerging surgical robotic technology: a progression toward microbots

Karl Khandalavala, Tim Shimon, Laura Flores, Priscila Rodrigues Armijo, Dmitry Oleynikov
2020 Annals of Laparoscopic and Endoscopic Surgery  
Robot-assisted surgery has quickly expanded due to the increasing opportunities for minimally invasive surgery across surgical domains.  ...  As robotic surgery approaches a decade of commercial use, the market is diversifying and novel surgical modalities with new technology, decreased costs, and smaller size are becoming available.  ...  Flex robotic system The Flex ® robotic system (Medrobotics Corp., Raynham, MA, USA) is a flexible highly-articulated robotic platform intended to increase accessibility to organs deep within the body  ... 
doi:10.21037/ales.2019.10.02 fatcat:6lt52uhkjbdthl2vz4q3j4fi6m

A Single-Port Robotic System for Transanal Microsurgery—Design and Validation

Jianzhong Shang, Konrad Leibrandt, Petros Giataganas, Valentina Vitiello, Carlo A. Seneci, Piyamate Wisanuvej, Jindong Liu, Gauthier Gras, James Clark, Ara Darzi, Guang-Zhong Yang
2017 IEEE Robotics and Automation Letters  
This paper introduces a single-port robotic platform for Transanal Endoscopic Micro-Surgery (TEMS).  ...  This system is intended to replace the conventional TEMS approach that uses manual laparoscopic instruments. The new system is based on master-slave robotically controlled tele-manipulation.  ...  In previous work, the authors reported a multitasking robotic platform for single-port access surgery in [9] .  ... 
doi:10.1109/lra.2017.2668461 dblp:journals/ral/ShangLGVSWLGCDY17 fatcat:6qrawgcmazb7hizrheyrzhtw3u

Robotics for Advanced Therapeutic Colonoscopy

Jennie Y Y Wong, Khek Yu Ho
2018 Clinical Endoscopy  
Among the recent developments are highly dexterous robotic master and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotion devices that can  ...  Developments in endoscopic instrumentations have overcome technical barriers and opened new horizons for further advancements in therapeutic interventions.  ...  Designed for natural orifice transluminal surgery, it facilitates instrumental dexterity and procedural precision.  ... 
doi:10.5946/ce.2018.089 pmid:30130838 pmcid:PMC6283769 fatcat:ggwsr7d4w5h45mnml3k7myfipa

A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery

Peter Berkelman, Ji Ma
2009 The international journal of robotics research  
The goal of our research is to improve the effectiveness of robot-assisted surgery by developing much smaller, simpler, modular, teleoperated robotic manipulator systems for minimally invasive surgery.  ...  Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice may  ...  feedback for the robotic master.  ... 
doi:10.1177/0278364909104276 pmid:21743765 pmcid:PMC3130619 fatcat:s2az7i574fh23kcdiiuhxqnvhe

Robotics and systems technology for advanced endoscopic procedures: experiences in general surgery

Marc O. Schurr, Alberto Arezzo, Gerhard F. Buess
1999 European Journal of Cardio-Thoracic Surgery  
A major enhancement for endoscopic technology is the introduction of robotic technology to design assisting devices for solo-surgery and manipulators for microsurgical instrumentation.  ...  The introduction of system technology and robotic technology enables today to design a highly ergonomic solo-surgery platform.  ...  The ARTEMIS system was the ®rst 6 DOF master-slave manipulator for endoscopic surgery found in the literature [23] .  ... 
doi:10.1093/ejcts/16.supplement_2.s97 pmid:10613568 fatcat:u6w3d3bt6reg7m67sthf3rswju

Robotic Gynecological Surgery: A Clinical Approach

Mohammed Khairy Ali, Ahmed Y Abdelbadee, Sherif A Shazly, Ahmed M Abbas, RK Mishra
2013 World Journal of Laparoscopic Surgery with DVD  
of surgical robots, the future of the robotic surgery and finally laparoendoscopic single site robotic surgery.  ...  Robotic surgery is considered as a solution for the technical problems of minimal invasive surgery.  ...  Several single-port devices are available including the SILS Port Multiple Instrument Access Port, GelPort, Uni-X Single-Port System and ASC R-port laparoscopic access device.  ... 
doi:10.5005/jp-journals-10007-1204 fatcat:khcu22sx5jdi3nvmyulv5gopiu
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