Papers by Keyword: Minimally Invasive Surgery (MIS)

Abstract: Since 1985 when the first use of robot in surgery fields, the interest and the amount of research in surgical robots have been increase significantly. Various surgical robot systems have been developed, and many design models have been proposed. This paper discusses the development of surgical robot design and touches some design and control characteristics which are useful for the research in the field. The paper also provides the recent trends in the field and discusses some commercial surgical robots.

Abstract: In this paper, a new volumetric deformable model that is suitable for real-time haptic rendering is proposed. Haptic rendering is the process of calculating and generating repulsive force in response to user interactions with virtual objects. In order to embody a deformable object into virtual space, a volumetric deformable object represented by a shape-retaining chain linked (S-chain) model is adopted. S-chain model allows for fast and realistic deformation of elastic objects. The classical S-chain model was satisfactory but there was still room for improvement. In order to improve this limitation, we propose an advanced S-chain algorithm which can be compatible with classical S-chain model.

Abstract: In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

Abstract: This paper proposes a novel type of tactile device using magnetorheological (MR) fluid which can be applied in minimally invasive surgery (MIS) robotic system. The remarkable feature of rheological properties of MR fluid by the intensity of the magnetic field makes this potential candidate of the tactile device. As the first step, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Secondly, an appropriate size of the tactile device is designed and manufactured base on magnetic analysis. The final step of this study is to measure the repulsive forces of dividing 5 areas in the tactile device.

Abstract: In this research, a slave robot is proposed and integrated with an electrorheological (ER) haptic master for minimally invasive surgery (MIS). A novel mechanism of the slave robot with a gimbal joint is developed to realize 4-DOF motions. The proposed slave robot consists of two arms, gimbal joint and fixed bar. The haptic master can generate a repulsive force as well as position motion for the slave robot. The manufactured slave robot and haptic master are remotely connected with each other via TCP/IP communications. Both repulsive force and position tracking control are evaluated in experiment.

Abstract: In this study, configuration and modeling of haptic mater device for minimally invasive surgery (MIS) featuring magneto-rheological (MR) fluid are proposed. This haptic device consists of two friction-free magneto-rheological (FFMR) brakes incorporated with a gimbal mechanism for realizing a 2-DOF rotational motion. The total torque induced from the FFMR brakes of the haptic device is computed based on Bingham model. In order to enhance the performance of the device, an optimal design for its brakes is undertaken. A prototype for the design is then manufactured and an experiment is undertaken to validate the result of the optimal design process.

Abstract: This study presents the configuration and modeling of an electro-rheological (ER) fluid-based haptic master device for minimally invasive surgery (MIS). The haptic master device can produce a 3-DOF rotational motion which is realized by ER bi-directional clutch/brake for X and Y axes and ER brake for Z axis. In order to transmit a complex rotation from the handle of the device to three rotary movements, a gimbal structure is adopted. Before manufacturing the proposed haptic master, two case of design parameters are detemined from the viewpoint of compact size and extensive workspace, respectively.

Abstract: In clinic it is of very practical significance to optimize the entry point and pose in path planning. We proposed a reverse path planning algorithm adopting multiform combined paths based on the improved kinematic model of flexible needle, and the objective function is established. Utilizing the reversibility of the path, we started from the target to optimize the whole path including the entry point and pose. Then we optimally calculated and simulated in the environment with obstacles. Results show that this algorithm effectively makes the needle steer clear of obstacles to reach the target precisely, and gains the entry point and pose at the same time, guaranteeing the optimal path.

Abstract: In minimally invasive surgery (MIS), depth estimation is also one of the most essential challenges. With the urgent demands of improving surgical safety, a method of improving the surgeon’s perception of depth by introducing an “invisible shadow” in the operative field has been proposed. A novel approach is presented for adaptive shadow detection by incorporating four different attributes and using a classification algorithm to make a distinction between shadow and non-shadow regions. Experimental results show that shadow region can be detected quite well and thus the method could potentially be used as an instrument navigation aid in minimally invasive surgery.

Abstract: This paper presents a new design of an electro-rheological (ER) fluid-based haptic master device that is used for a minimally invasive surgery (MIS). This device consists of a bi-directional ER clutch/brake and an ER brake from which a repulsive force is realized. First, the modeling of these clutches/brakes is conducted. In addition, to transmit a complex rotation from the handle of the device to three independently rotary movements, a gimbal mechanism is adopted. At last, in order to evaluate the repulsive forces generated from the device, an experimental test is undertaken.