Rolling-joint design optimization for tendon driven snake-like surgical robots

The use of snake-like robots for surgery is a popular choice for intra-luminal procedures. In practice, the requirements for strength, flexibility and accuracy are difficult to be satisfied simultaneously. This paper presents a computational approach for optimizing the design of a snake-like robot using serial rolling-joints and tendons as the base architecture. The method optimizes the design in terms of joint angle range and tendon placement to prevent the tendons and joints from colliding during bending motion. The resulting optimized joints were manufactured using 3D printing. The robot was characterized in terms of workspace, dexterity, precision and manipulation forces. The results show a repeatability as low as 0.9mm and manipulation forces of up to 5.6N

Design and Development of a Novel Expanding Pedicle Screw for Use in the Osteoporotic Lumbar Spine

Pedicle screws are commonly utilized in spinal surgery; however, traditional designs often do not provide adequate fixation in osteoporotic spines. The objective of this thesis was to develop a novel expanding screw for use in osteoporotic lumbar pedicles. Helical screws capable of expanding post insertion were built on a rapid prototype machine. A materials testing machine performed axial load to failure tests in both Sawbones and cadaveric specimens comparing the new design to traditional screws (rate = 10mm/min to 20 mm). Output parameters included yield load, ultimate load, stiffness, energy to failure and total energy. The expanding screw showed a 36% increase in total energy (p=0.02), but no other differences were identified. Based on this initial design, the expandable pedicle screws failed to demonstrate improved screw pullout; however, differences may be observed in other loading modes (i.e., toggle) and further design modifications and improvements in post-build machining may provide beneficial enhancements

Factors affecting accuracy and fusion rate in lumbosacral fusion surgery - a preclinical and clinical study

Lumbosacral fusion surgery is indicated in symptomatic degenerative lumbosacral disorder, when the origin of pain is demonstrated to lie within the restricted number of functional spinal units and when the pain is refractory to the conservative treatment, to eliminate painful motion of the spinal units. Inaccurate placement of pedicle screws may cause neurological symptoms, and result in early hardware failure and return of spinal instability symptoms. All spinal instrumentation eventually fails without solid bony fusion, and the presence of symptomatic bony non-union at least a year after fusion surgery is defined as pseudoarthrosis. Bioactive glasses (BAGs) are synthetic, biocompatible, osteoconductive and osteostimulative materials with angiogenic and antibacterial properties, able to bond to bone. In a study of 147 patients and 837 pedicle screws placed due to degenerative lumbosacral spine disorder, 14.3 % breached the pedicle. New neurological symptoms corresponding to the breach were observed in 25.9 % of patients with pedicle breach, and 89.2 % of the symptomatic breaches were either medially or inferiorly. A preclinical controlled study of novel BAG S53P4 putty showed good biocompatibility, slightly higher intramedullary ossification of putty group compared to the control group, and that the binder agent did not disturb formation of new bone in vivo. The interbody fusion rate was 95.8 % with BAG S53P4 putty as bone graft expander with autograft in clinical lumbosacral interbody fusion, indicating at least as good interbody fusion results as the presently used materials. One early operative subsidence remaining unchanged over the study period was observed with putty.Lannerangan luudutusleikkausten tarkkuuteen ja luutumiseen vaikuttavat tekijät Lannerangan luudutusleikkaus voidaan tehdä oireisessa lannerangan rappeumasairaudessa, kun kivun syyn on osoitettu sijaitsevan rajallisessa määrässä selkärangan toiminnallisia yksikköjä ja kun kipu ei vähene leikkauksettomilla hoidoilla. Leikkauksella voidaan poistaa kipua tuottava selkärangan toiminnallisten yksikköjen liike. Epätarkka pedikkeliruuvien asettaminen voi aiheuttaa neurologisia oireita ja johtaa nopeaan kiinnitysosien irtoamiseen ja rangan epätukevuusoireiden palaamiseen. Suuri osa selkärangan kiinnityslaitteista irtoaa lopulta, jollei luutumista kiinnitettyjen kohtien välillä tapahdu. Vuoden kuluttua luudutusleikkauksesta oireista luutumatonta kiinnityskohtaa nimitetään pseudoartroosiksi. Bioaktiiviset lasit ovat synteettisiä, bioyhteensopivia, osteokonduktiivisia ja osteostimulatiivisia materiaaleja, joilla on angiogeenisiä ja antibakteerisia ominaisuuksia, ja ne voivat sitoutua suoraan luuhun. 147 potilaalle lannerangan rappeumasairauden vuoksi asetetut 837 pedikkeliruuvia käsittävän tutkimuksen mukaan 14.3 % ruuveista rikkoi luisen pedikkelin seinämän. 25.9 %:lla potilaista, joilla ruuvi läpäisi pedikkelin seinämän, ilmeni uusia neurologisia oireita, ja 89.2 %:lla oireisista potilaista pedikkeliruuvi läpäisi pedikkelin seinämän mediaalisesti tai inferiorisesti. Prekliinisessä kontrolloidussa tutkimuksessa uudenlainen bioaktiivisesta lasista valmistettu S53P4 luunkorviketahna todettiin bioyhteensopivaksi, ja sen avulla saavutettiin hieman vertailuryhmää parempi luutuminen luuydinontelossa. Tahnan sidosaineen ei eläinkokeessa todettu häiritsevän luun muodostumista. Kliinisessä tutkimuksessa saavutettiin 95.8 %:n luutuminen käytettäessä S53P4 biolasitahnaa yhdessä oman luun kanssa lannerangan nikamasolmujen välisessä luudutuksessa. Siten yhdessä oman luun kanssa käytettäessä S53P4 biolasitahnalla saadaan aikaan vähintään yhtä hyvä nikamasolmujen välinen luutuminen kuin nykyisin käytettävillä synteettisillä luunkorvikkeilla. Tutkimuksessa todettiin yksi leikkauksen yhteydessä tapahtunut nikamasolmujen välisen implantin päätelevyyn painuminen, jonka suuruus ei muuttunut seurantakuvantamisissa

SMART IMAGE-GUIDED NEEDLE INSERTION FOR TISSUE BIOPSY

M.S

The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications

Interest in soft actuators has increased enormously in the last 10 years. Thanks to their compliance and flexibility, they are suitable to be employed to actuate devices that must safely interact with humans or delicate objects or to actuate bio-inspired robots able to move in hostile environments. This paper reviews the research on soft pneumatic actuators conducted in Italy, focusing on mechanical design, analytical modeling, and possible application. A classification based on the geometry is proposed, since a wide set of architectures and manufacturing solutions are available. This aspect is confirmed by the extent of scenarios in which researchers take advantage of such systems’ improved flexibility and functionality. Several applications regarding bio-robotics, bioengineering, wearable devices, and more are presented and discussed

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not