Proceedings ArticleDOI
The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery
Akhil J. Madhani,Gunter Niemeyer,J.K. Salisbury +2 more
- Vol. 2, pp 936-944
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TLDR
The Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS) is presented and suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments is demonstrated.Abstract:
This paper presents the Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS). We show how teleoperation can address several key problems in MIS by increasing dexterity and degrees of freedom, by giving the surgeon some force feedback to feel instrument-tissue interactions and by eliminating geometric discrepancies between actual and observed tool motions. We discuss relevant design constraints, summarize the mechanism design and give data showing the quality of force reflection achieved. We demonstrate suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments.read more
Citations
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Disturbance observer design for robotic and telerobotic systems
TL;DR: A novel framework is introduced, based on linear matrix inequalities, for the design of nonlinear disturbance observers for serial robotic manipulators and their applications in the control of telerobotic systems.
Proceedings Article
Hybrid analysis of a spherical mechanism for a minimally invasive surgical (MIS) robot - design concepts for multiple optimizations
TL;DR: Kinematic and dynamic metrics are considered independently, and then combined to produce hybrid metrics, which reward good kinematic performance, and dynamic performance metric, which penalize poor dynamic performance.
Journal ArticleDOI
An overview of the intuitive system: The surgeon’s perspective
TL;DR: A new type of telerobot was obviously necessary to work in the surgical environment with a whole new set of standards in terms of precision ancl scale of movement, and now the patient would need protection from injury.
Dissertation
Commande par vision d'un robot de chirurgie laparoscopique
TL;DR: In this article, a system of vision robotique is presented, which recupere and positionne automatiquement les instruments chirurgicaux lors d'une intervention en chircurgie laparoscopique assistee par robot.
Journal ArticleDOI
An improved surgical instrument without coupled motions that can be used in robotic-assisted minimally invasive surgery
TL;DR: The performance of the proposed surgical instrument is validated by mechanical performance testing and animal experiments, which indicate that the problem of the coupled motion is successfully solved and the instrument is able to perform surgical tasks.
References
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Proceedings Article
The PHANToM Haptic Interface: A Device for Probing Virtual Objects
TL;DR: The design rationale, novel kinematics and mechanics of the PHANToM, a device which measures a user’s finger tip position and exerts a precisely controlled force vector on the finger tip, are discussed.
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A telerobotic assistant for laparoscopic surgery
Russell H. Taylor,Janez Funda,B. Eldridge,S. Gomory,K.G. Gruben,David Arthur Larose,Mark A. Talamini,Louis R. Kavoussi,James H. Anderson +8 more
TL;DR: A new generation of "intelligent" surgical systems that can work cooperatively with a human surgeon to off-load routine tasks, reduce the number of people needed in the operating room, and provide new capabilities that complement the surgeon's own skills are developed.
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Human-machine interfaces for minimally invasive surgery
Frank Tendick,M.C. Cavusoglu +1 more
TL;DR: Three projects to evaluate and improve the human interface in laparoscopic surgery, or minimally invasive surgery of the abdomen, are described: measurement of movement trajectories under different visual conditions to determine the effect of viewing geometry, development of virtual environments for training, and the development of haptic interfaces and control algorithms for teleoperative surgery.
Proceedings ArticleDOI
Telepresence surgery demonstration system
TL;DR: A telepresence system with integrated 3D stereo viewing, a prototype force-reflecting manipulator, and aural feedback that eliminates the motion reversal, or fulcrum effect, in operating through the abdominal wall is developed.
Journal ArticleDOI
Robotic surgical instruments for dexterity enhancement in thoracoscopic coronary artery bypass graft
Antonio Garcia-Ruiz,Nicholas G. Smedira,Floyd D. Loop,Joseph F. Hahn,Jeffrey H. Miller,Charles P. Steiner,Michel Gagner +6 more
TL;DR: The use of robotic enhancement technology leads to an efficient performance of sutured coronary artery bypass anastomoses in a plastic model that enhances dexterity, precision, and reduces surgeon's fatigue while preserving the quality of hand suturing.