142 research outputs found
Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries
The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key
driver to the adoption of robotic surgical assistance. Progress in the last
three decades has led to a gradual transition from manual laparoscopic surgery
with rigid instruments to robot-assisted surgery. In the last decade, the
increasing demand for new surgical paradigms to enable access into the anatomy
without skin incision (intraluminal surgery) or with a single skin incision
(Single Port Access surgery - SPA) has led researchers to investigate
snake-like flexible surgical devices. In this chapter, we first present an
overview of the background, motivation, and taxonomy of MIS and its newer
derivatives. Challenges of MIS and its newer derivatives (SPA and intraluminal
surgery) are outlined along with the architectures of new snake-like robots
meeting these challenges. We also examine the commercial and research surgical
platforms developed over the years, to address the specific functional
requirements and constraints imposed by operations in confined spaces. The
chapter concludes with an evaluation of open problems in surgical robotics for
intraluminal and SPA, and a look at future trends in surgical robot design that
could potentially address these unmet needs.Comment: 41 pages, 18 figures. Preprint of article published in the
Encyclopedia of Medical Robotics 2018, World Scientific Publishing Company
www.worldscientific.com/doi/abs/10.1142/9789813232266_000
A Monolithic Compliant Continuum Manipulator:A Proof-of-Concept Study
Continuum robots have the potential to form an effective interface between the patient and surgeon in minimally invasive procedures. Magnetic actuation has the potential for accurate catheter steering, reducing tissue trauma and decreasing radiation exposure. In this paper, a new design of a monolithic metallic compliant continuum manipulator is presented, with flexures for precise motion. Contactless actuation is achieved using time-varying magnetic fields generated by an array of electromagnetic coils. The motion of the manipulator under magnetic actuation for planar deflection is studied. The mean errors of the theoretical model compared to experiments over three designs are found to be 1.9 mm and 5.1degrees in estimating the in-plane position and orientation of the tip of the manipulator, respectively and 1.2 mm for the whole shape of the manipulator. Maneuverability of the manipulator is demonstrated by steering it along a path of known curvature and also through a gelatin phantom which is visualized in real time using ultrasound imaging, substantiating its application as a steerable surgical manipulator
A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation
The application of laser technologies in surgical interventions has been accepted in the clinical
domain due to their atraumatic properties. In addition to manual application of fibre-guided
lasers with tissue contact, non-contact transoral laser microsurgery (TLM) of laryngeal tumours
has been prevailed in ENT surgery. However, TLM requires many years of surgical training
for tumour resection in order to preserve the function of adjacent organs and thus preserve the
patient’s quality of life. The positioning of the microscopic laser applicator outside the patient
can also impede a direct line-of-sight to the target area due to anatomical variability and limit
the working space. Further clinical challenges include positioning the laser focus on the tissue
surface, imaging, planning and performing laser ablation, and motion of the target area during
surgery. This dissertation aims to address the limitations of TLM through robotic approaches and
intraoperative assistance. Although a trend towards minimally invasive surgery is apparent, no
highly integrated platform for endoscopic delivery of focused laser radiation is available to date.
Likewise, there are no known devices that incorporate scene information from endoscopic imaging
into ablation planning and execution. For focusing of the laser beam close to the target tissue, this
work first presents miniaturised focusing optics that can be integrated into endoscopic systems.
Experimental trials characterise the optical properties and the ablation performance. A robotic
platform is realised for manipulation of the focusing optics. This is based on a variable-length
continuum manipulator. The latter enables movements of the endoscopic end effector in five
degrees of freedom with a mechatronic actuation unit. The kinematic modelling and control of the
robot are integrated into a modular framework that is evaluated experimentally. The manipulation
of focused laser radiation also requires precise adjustment of the focal position on the tissue. For
this purpose, visual, haptic and visual-haptic assistance functions are presented. These support
the operator during teleoperation to set an optimal working distance. Advantages of visual-haptic
assistance are demonstrated in a user study. The system performance and usability of the overall
robotic system are assessed in an additional user study. Analogous to a clinical scenario, the
subjects follow predefined target patterns with a laser spot. The mean positioning accuracy of the
spot is 0.5 mm. Finally, methods of image-guided robot control are introduced to automate laser
ablation. Experiments confirm a positive effect of proposed automation concepts on non-contact
laser surgery.Die Anwendung von Lasertechnologien in chirurgischen Interventionen hat sich aufgrund der atraumatischen Eigenschaften in der Klinik etabliert. Neben manueller Applikation von fasergefĂĽhrten
Lasern mit Gewebekontakt hat sich die kontaktfreie transorale Lasermikrochirurgie (TLM) von
Tumoren des Larynx in der HNO-Chirurgie durchgesetzt. Die TLM erfordert zur Tumorresektion
jedoch ein langjähriges chirurgisches Training, um die Funktion der angrenzenden Organe zu
sichern und damit die Lebensqualität der Patienten zu erhalten. Die Positionierung des mikroskopis chen Laserapplikators außerhalb des Patienten kann zudem die direkte Sicht auf das Zielgebiet
durch anatomische Variabilität erschweren und den Arbeitsraum einschränken. Weitere klinische
Herausforderungen betreffen die Positionierung des Laserfokus auf der Gewebeoberfläche, die
Bildgebung, die Planung und AusfĂĽhrung der Laserablation sowie intraoperative Bewegungen
des Zielgebietes. Die vorliegende Dissertation zielt darauf ab, die Limitierungen der TLM durch
robotische Ansätze und intraoperative Assistenz zu adressieren. Obwohl ein Trend zur minimal
invasiven Chirurgie besteht, sind bislang keine hochintegrierten Plattformen fĂĽr die endoskopische
Applikation fokussierter Laserstrahlung verfĂĽgbar. Ebenfalls sind keine Systeme bekannt, die
Szeneninformationen aus der endoskopischen Bildgebung in die Ablationsplanung und -ausfĂĽhrung
einbeziehen. Für eine situsnahe Fokussierung des Laserstrahls wird in dieser Arbeit zunächst
eine miniaturisierte Fokussieroptik zur Integration in endoskopische Systeme vorgestellt. Experimentelle Versuche charakterisieren die optischen Eigenschaften und das Ablationsverhalten. Zur
Manipulation der Fokussieroptik wird eine robotische Plattform realisiert. Diese basiert auf einem
längenveränderlichen Kontinuumsmanipulator. Letzterer ermöglicht in Kombination mit einer
mechatronischen Aktuierungseinheit Bewegungen des Endoskopkopfes in fĂĽnf Freiheitsgraden.
Die kinematische Modellierung und Regelung des Systems werden in ein modulares Framework
eingebunden und evaluiert. Die Manipulation fokussierter Laserstrahlung erfordert zudem eine
präzise Anpassung der Fokuslage auf das Gewebe. Dafür werden visuelle, haptische und visuell haptische Assistenzfunktionen eingeführt. Diese unterstützen den Anwender bei Teleoperation
zur Einstellung eines optimalen Arbeitsabstandes. In einer Anwenderstudie werden Vorteile der
visuell-haptischen Assistenz nachgewiesen. Die Systemperformanz und Gebrauchstauglichkeit
des robotischen Gesamtsystems werden in einer weiteren Anwenderstudie untersucht. Analog zu
einem klinischen Einsatz verfolgen die Probanden mit einem Laserspot vorgegebene Sollpfade. Die
mittlere Positioniergenauigkeit des Spots beträgt dabei 0,5 mm. Zur Automatisierung der Ablation
werden abschließend Methoden der bildgestützten Regelung vorgestellt. Experimente bestätigen
einen positiven Effekt der Automationskonzepte fĂĽr die kontaktfreie Laserchirurgie
Surgical Applications of Compliant Mechanisms:A Review
Current surgical devices are mostly rigid and are made of stiff materials, even though their predominant use is on soft and wet tissues. With the emergence of compliant mechanisms (CMs), surgical tools can be designed to be flexible and made using soft materials. CMs offer many advantages such as monolithic fabrication, high precision, no wear, no friction, and no need for lubrication. It is therefore beneficial to consolidate the developments in this field and point to challenges ahead. With this objective, in this article, we review the application of CMs to surgical interventions. The scope of the review covers five aspects that are important in the development of surgical devices: (i) conceptual design and synthesis, (ii) analysis, (iii) materials, (iv) maim facturing, and (v) actuation. Furthermore, the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployable devices. The scope and prospects of surgical devices using CMs are also discussed
Phase Change Materials for Controllable Stiffness of Robotic Joints
Snake-like manipulators are well suited for operation in restricted and confined environments where the manipulator body can bend around obstacles to place an end effector at a difficult to access location. They require high stiffness when self-supporting weight against gravity and undertake precision manipulation task, but also require soft properties when operating in complex and delicate environments. A controllable stiffness manipulator has the potential to meet the application demands as it can switch between rigid and soft state.
This thesis experimentally investigates the properties of four materials, (low melting point solder, hot-melt adhesive, low melting point alloy and granular material) as candidates for mechanically altering the stiffness of the joints/modules in snake-like manipulators. These materials were evaluated for bonding strength, repeatability, and activation time. Modules for a snake-like manipulator were fabricated using 3D printing and silicone casting techniques including, for the first time, variable stiffness joints that use hot-melt adhesive and low melting point alloy. These modules were evaluated for stiffness properties and low melting point solder based module was found to achieve a stiffness change 150X greater than the state of the art granular material approach. In addition, the proposed modules were able to support 25X of their own weight
Snake Robots for Surgical Applications: A Review
Although substantial advancements have been achieved in robot-assisted surgery, the blueprint to existing snake robotics predominantly focuses on the preliminary structural design, control, and human–robot interfaces, with features which have not been particularly explored in the literature. This paper aims to conduct a review of planning and operation concepts of hyper-redundant serpentine robots for surgical use, as well as any future challenges and solutions for better manipulation. Current researchers in the field of the manufacture and navigation of snake robots have faced issues, such as a low dexterity of the end-effectors around delicate organs, state estimation and the lack of depth perception on two-dimensional screens. A wide range of robots have been analysed, such as the i2Snake robot, inspiring the use of force and position feedback, visual servoing and augmented reality (AR). We present the types of actuation methods, robot kinematics, dynamics, sensing, and prospects of AR integration in snake robots, whilst addressing their shortcomings to facilitate the surgeon’s task. For a smoother gait control, validation and optimization algorithms such as deep learning databases are examined to mitigate redundancy in module linkage backlash and accidental self-collision. In essence, we aim to provide an outlook on robot configurations during motion by enhancing their material compositions within anatomical biocompatibility standards
Challenges of continuum robots in clinical context: a review
With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate of progress slowed as limits of size and controllable degrees of freedom were reached. Continuum robots came with the potential to deliver a step change in the next generation of medical devices, by providing better access, safer interactions and making new procedures possible. Over the last few years, several continuum robotic systems have been launched commercially and have been increasingly adopted in hospitals. Despite the clear progress achieved, continuum robots still suffer from design complexity hindering their dexterity and scalability. Recent advances in actuation methods have looked to address this issue, offering alternatives to commonly employed approaches. Additionally, continuum structures introduce significant complexity in modelling, sensing, control and fabrication; topics which are of particular focus in the robotics community. It is, therefore, the aim of the presented work to highlight the pertinent areas of active research and to discuss the challenges to be addressed before the potential of continuum robots as medical devices may be fully realised
Improving Strength and Stability in Continuum Robots
Continuum robots, which are bio-inspired ’trunk-like’ robots, are characterized for their inherent compliance and range of motion. One of the key challenges in continuum robotics research is developing robots with sufficient strength and stability without adding additional weight or complexity to the design. The research conducted in this dissertation encompasses design and modeling strategies that address these challenges in strength and stability. This work improves three continuum robot actuation paradigms: (1) tendon-driven continuum robots (TDCR), (2) concentric tube robots (CTR), and (3) concentric push-pull robots (CPPR). The first chapter of contribution covers strategies for improving strength in TDCRs. The payload capacity and torsional stiffness of the robot can be improved by leveraging the geometry of the backbone design and tendon routing, with design choices experimentally validated on a robot prototype. The second chapter covers a new bending actuator, concentric precurved bellows (CPB), that are based upon CTR actuation. The high torsional stiffness of bellows geometry virtually eliminates the torsional compliance instability found in CTRs. Two bellows designs are developed for 3D printing and the mechanical properties of these designs are characterized through experiments on prototypes and in static finite element analysis. A torsionally rigid kinematic model is derived and validated on 3D printed prototypes. The third chapter of contribution covers the development and validation of a mechanics-based CPPR kinematics model. CPPRs are constructed from concentrically nested, asymmetrically patterned tubes that are fixed together at their distal tips. Relative translations between the tubes induces bending shapes from the robot. The model expands the possible design space of CPPRs by enabling the modeling of external loads, non-planar bending shapes, and CPPRs with more than two tubes. The model is validated on prototypes in loaded and unloaded experiments
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