Proceedings ArticleDOI
A mechanism for surgical tool manipulation
Basem F. Yousef,Farah M. T. Aiash +1 more
- pp 1-5
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TLDR
A compact mechanism is designed to enable manipulation about a pivot point, different kinds of surgical tools which are commonly used in minimally invasive surgery such as therapy laser delivery tools, biopsy and bracytherapy needles, to be used in a broad range of medical interventions.Abstract:
A compact mechanism is designed to enable manipulation about a pivot point, different kinds of surgical tools which are commonly used in minimally invasive surgery such as therapy laser delivery tools, biopsy and bracytherapy needles. The robot's special configuration will enable it to reorient a surgical tool about a pivot point conveniently; achieve and control small-scale movement for precision manipulation in two independent degrees of freedom, and allow for miniaturization so it can overcome problems associated with the limited surgical workspaces. The manipulator can be used in manual, autonomous or remote-control modes. Performance analysis showed that the robot can operate with an average angular accuracy of 1.4 and 1.1 degrees for the joints. The features of the proposed mechanism make it well suited for use in a broad range of medical interventions.read more
Citations
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Journal ArticleDOI
Remote Center of Motion (RCM) Mechanisms for Surgical Operations
TL;DR: The literature on studies performed about the parallel, spherical and hybrid RCM mechanisms are examined and classified and this paper describes these mechanisms and their applications.
Journal ArticleDOI
Modeling, design and experiment of a remote-center-of-motion parallel manipulator for needle insertion
TL;DR: In this article, a 2-CRRR-CRR parallel manipulator was proposed for single needle insertion with high accuracy, where C denotes a cylindrical joint and R a revolute joint.
Journal ArticleDOI
Real-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgery
TL;DR: The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations and to contribute to the literature by designing and manufactured a novel RCM mechanism.
Journal ArticleDOI
A novel compliant surgical robot: Preliminary design analysis.
TL;DR: A compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed and a remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is developed.
Journal ArticleDOI
Fuzzy Control of Laparoscopic Surgical Robot Designed for Use in Minimally Invasive Surgery
Serhat Aksungur,Oğuz Yakut +1 more
TL;DR: A unique and original surgical robot designed for laparoscopic surgical purposes which is not in the literature of robots, has been described.
References
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Journal ArticleDOI
AcuBot: a robot for radiological interventions
Dan Stoianovici,Kevin Cleary,Alexandru Patriciu,Dumitru Mazilu,A. Stanimir,N. Craciunoiu,Vance Watson,Louis R. Kavoussi +7 more
TL;DR: The development of a robot for radiological percutaneous interventions using uniplanar fluoroscopy, biplanarorescence, or computed tomography (CT) for needle biopsy, radio frequency ablation, cryotherapy, and other needle procedures is reported.
Journal ArticleDOI
System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance.
Gabor Fichtinger,Theodore L. DeWeese,Alexandru Patriciu,Attila Tanacs,Dumitru Mazilu,James H. Anderson,Ken Masamune,Ken Masamune,Russell H. Taylor,Dan Stoianovici +9 more
TL;DR: Results of preliminary experiments indicate that this robotic system may be suitable for transperineal needle placement into the prostate and shows potential in a variety of other percutaneous clinical applications.
Journal Article
Towards MRI guided surgical manipulator.
Kiyoyuki Chinzei,Karol Miller +1 more
TL;DR: Critical interactions between Magnetic Resonance Imaging equipment and mechatronic devices are discussed and a novel MR compatible surgical robot is described, which was designed to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter.
Journal ArticleDOI
Robotic guidance for percutaneous interventions
TL;DR: The paper describes the developed arm and the controller architecture, and gives some first results from a pre-clinical test using a needle-penetrable medical phantom.
Proceedings ArticleDOI
A Macro-Robot Manipulator for Medical Applications
TL;DR: An actuated robot arm is designed for use as a macro manipulator that can carry, appropriately orient, precisely position and firmly "lock" in position different types of micro robots and surgical tools necessary for applications in minimally invasive therapy.