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1 – 10 of 303
Article
Publication date: 1 December 2004

Tobias Ortmaier, Holger Weiss and Volkmar Falk

Minimally invasive endoscopic surgery and minimally invasive surgery challenge surgical skills due to the operator's separation from the surgical field and the…

1091

Abstract

Minimally invasive endoscopic surgery and minimally invasive surgery challenge surgical skills due to the operator's separation from the surgical field and the requirements for long instruments with limited dexterity. To overcome the drawbacks of conventional endoscopic instruments computer‐enhanced telemanipulation systems and robotic systems have been developed in the past. This paper summarizes the requirements for minimally invasive robotic assisted surgery and describes a new robot that has been developed at the German Aerospace Center (DLR). The discussion includes a description of the robotic arm, the appropriate control laws, as well as the requirements for actuated and sensorized instruments.

Details

Industrial Robot: An International Journal, vol. 31 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 19 October 2015

Carlos Eduardo Díaz, Roemi Fernández, Manuel Armada and Felipe de Jesús García Gutiérrez

– This paper aims to provide an insight into recent advancements and developments of robotics for Natural Orifice Transluminal Surgery (NOTES) procedures.

Abstract

Purpose

This paper aims to provide an insight into recent advancements and developments of robotics for Natural Orifice Transluminal Surgery (NOTES) procedures.

Design/methodology/approach

Following an introduction that highlights the evolution from Minimally Invasive Surgery (MIS) to NOTES in the medical field, this paper reviews the main robotics systems that have been designed and implemented for MIS and NOTES, summarising their advantages and limitations and remarking the technological challenges and the requirements that still should be addressed and fulfilled.

Findings

The state-of-the-art presented in this paper shows that the majority of the platforms created for NOTES are laboratory prototypes, and their performances are still far from being optimal. New solutions are required to solve the problems confronted by the proposed systems such as the limited number of DOFs, the limited resolution, the optimal fixation and stiffening of the instruments for enabling stable and precise operation, the effective transmission of forces to the tip tools, the improvement of the force feedback feeling and the proper visualization and spatial orientation of the surgical field. Advances in robotics can contribute significantly to the development and future implementation of the NOTES procedure.

Originality/value

This paper highlights the current trends and challenges ahead in robotics applied to NOTES procedure.

Details

Industrial Robot: An International Journal, vol. 42 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 20 June 2008

Rinaldo Michelini and Roberto Razzoli

The purpose of this paper is to consider surgical robotics, with a focus on technology and design issues for remote‐mode operation assistance. The investigation leads to…

Abstract

Purpose

The purpose of this paper is to consider surgical robotics, with a focus on technology and design issues for remote‐mode operation assistance. The investigation leads to the definition of the technical characteristics of a co‐robotic positioning device (CRPD), to be developed in support of a split‐duty approach to planning. The expected characteristics and advantages are outlined, including the operation potential of special‐purpose devices (e.g. an automatic changer for surgical tools) and of scope‐driven enhancers (e.g. the exploration of the intervention theatre).

Design/methodology/approach

The paper addresses example developments based on projects performed with the co‐operation of other robot laboratories in Munich and Paris. The CRPD concept is applied in relation to the DLR KineMedic® arm (developed by the Munich laboratory), and with the LRP prototype mini‐arm (built by the Paris laboratory).

Findings

Minimallyinvasive surgery deserves increasing attention to reduce post‐operative hospital stays and to reduce complications. This leads to new trends in robotics, to facilitate safe, fast and accurate remote manipulation, and integrated computer‐aided implements. The features of the example CRPD design are summarised for the two cases.

Practical implications

The overall comments consider minimallyinvasive robotic surgery as a given intervention practice in the near future, and the split‐duty approach, supported by the CRPD technology, as a valuable aid for human‐robot co‐operation, according to the “best‐of‐skills” idea, supporting intervention under the surgeon's control.

Originality/value

This investigation shows new results aimed at expanding the operation versatility of robotics with integrated intelligence, to enhance scope‐driven alternatives and out‐of‐reach handling with improved dexterity and safe autonomic processing.

Details

Industrial Robot: An International Journal, vol. 35 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 1 February 2003

81

Abstract

Details

Industrial Robot: An International Journal, vol. 30 no. 1
Type: Research Article
ISSN: 0143-991X

Article
Publication date: 13 December 2017

Shuizhong Zou, Bo Pan, Yili Fu and Shuixiang Guo

The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual…

Abstract

Purpose

The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual manipulations of robotic arms can be performed in the preoperative operation.

Design/methodology/approach

First, the flexible-joint dynamic model of the 3-degree of freedom remote center motion (RCM) mechanisms of minimally invasive surgery (MIS) robot is derived and its dynamic parameters and friction parameters are identified. Next, the angular velocities and angular accelerations of joints are estimated in real time by the designed Kalman filter. Finally, a control algorithm based on Kalman filter is proposed to enhance the backdrivability of RCM mechanisms by compensating for the internally generated gravitational, frictional and inertial resistances experienced during the positioning and orientating.

Findings

The parameter identification for RCM mechanisms can be experimentally evaluated from comparison between the measured torques and the reconstructed torques. The accuracy and convergence of the real-time estimation of angular velocity and acceleration of the joint by the designed Kalman filter can be verified from corresponding simulation experiments. Manual adjustment experiments and animal experiments validate the effectiveness of the proposed backdrivability control algorithm.

Research limitations/implications

The backdrivability control algorithm presented in this paper is a universal method to enhance the manual operation performance of robots, which can be used not only in the medical robot preoperative manual manipulation but also in robot haptic interaction, industrial robot direct teaching and active rehabilitation training of rehabilitation robot and so on.

Originality/value

Compared with other backdrivability design methods, the proposed algorithm achieves good backdrivability for RCM mechanisms without using force sensors and accelerometers. In addition, this paper presents a new static friction compensation approach for a joint moving with very low velocity.

Details

Industrial Robot: An International Journal, vol. 45 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 21 August 2017

Weibang Bai, Qixin Cao, Pengfei Wang, Peng Chen, Chuntao Leng and Tiewen Pan

Robotic systems for laparoscopic minimally invasive surgery (MIS) always end up with highly sophisticated mechanisms and control schemes – making it a long and hard…

Abstract

Purpose

Robotic systems for laparoscopic minimally invasive surgery (MIS) always end up with highly sophisticated mechanisms and control schemes – making it a long and hard development process with a steep price. This paper aims to propose and realize a new, efficient and convenient strategy for building effective control systems for surgical and even other complex robotic systems.

Design/methodology/approach

A novel method that takes advantage of the modularization concept by integrating two middleware technologies (robot operating system and robotic technology middleware) into a common architecture based on the strengths of both was designed and developed.

Findings

Tests of the developed control system showed very low time-delay between the master and slave sides; good movement representation on the slave manipulator; and high positional and operational accuracy. Moreover, the new development strategy trial came with much higher efficiency and lower costs.

Research limitations/implications

This method results in a modularized and distributed control system that is amenable to collaboratively develop; convenient to modify and update; componentized and easy to extend; mutually independent among subsystems; and practicable to be running and communicating across multiple operating systems. However, experiments show that surgical training and updates of the robotic system are still required to achieve better proficiency for completing complex minimally invasive surgical operations with the proposed and developed system.

Originality/value

This research proposed and developed a novel modularization design method and a novel architecture for building a distributed teleoperation control system for laparoscopic MIS.

Details

Industrial Robot: An International Journal, vol. 44 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 February 2003

M. Cenk Çavuşoğlu, Winthrop Williams, Frank Tendick and S. Shankar Sastry

Robotic telesurgery is a promising application of robotics to medicine, aiming to enhance the dexterity and sensation of regular and minimally invasive surgery through…

1479

Abstract

Robotic telesurgery is a promising application of robotics to medicine, aiming to enhance the dexterity and sensation of regular and minimally invasive surgery through using millimeter‐scale robotic manipulators under the control of the surgeon. In this paper, the telesurgical system will be introduced with discussion of kinematic and control issues and presentation of in vitro experimental evaluation results.

Details

Industrial Robot: An International Journal, vol. 30 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 October 2001

James Wright

The new computer‐enhanced operating environment is making a compelling impact on healthcare: improving efficiency in the operating room (OR) with better communications…

Abstract

The new computer‐enhanced operating environment is making a compelling impact on healthcare: improving efficiency in the operating room (OR) with better communications, streamlined networks and effective personnel utilization; increasing the number of procedures that can be performed in a minimally invasive fashion for reduced patient pain, trauma and recovery time; and enabling new procedures that would otherwise be impossible to perform due to human limitations. To maximize the benefits to the hospital, staff and, most importantly, patients, the introduction of robotics necessitates careful evaluation of the technology along several criteria. Computer Motion suggests using its “four cornerstones of robotic surgery” to assess the appropriateness of the technology or equipment under consideration: OR readiness; procedural compatibility; precision and dexterity enhancement; and open architecture and upgradability. Evaluating along these four cornerstones helps ensure the equipment or technology will meet the feasibility, accuracy, utilization, system longevity, patient safety and surgeon/OR team benefits required by today’s OR environment and staff.

Details

Industrial Robot: An International Journal, vol. 28 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 August 1999

Chris Bernard, Hyosig Kang, Sunil K. Singh and John T. Wen

Minimally invasive surgery (MIS) is a cost‐effective alternative to the open surgery whereby essentially the same operations are performed using specialized instruments…

Abstract

Minimally invasive surgery (MIS) is a cost‐effective alternative to the open surgery whereby essentially the same operations are performed using specialized instruments designed to fit into the body through several tiny punctures instead of one large incision. The EndoBots (Endoscopic Robots) described here are designed for collaborative operation between the surgeon and the robotic device. The surgeon can program the device to be operated completely manually, collaboratively where motion of the robotic device in certain directions is under computer control and in others under manual surgeon control, or autonomously where the complete device is under computer control. Furthermore, the robotic tools can be quickly changed from a robotic docking station, allowing different robotic tools to be used in an operation.

Details

Industrial Robot: An International Journal, vol. 26 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 1 June 1998

342

Abstract

Details

Industrial Robot: An International Journal, vol. 25 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

1 – 10 of 303