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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Journal ArticleDOI
Brain activation measurement for motion gain decision of surgical endoscope manipulation
TL;DR: The feasibility of a gain‐tuning method in which the operator's brain activity is measured and used to evaluate stress levels is validated, which will likely improve the surgery by reducing the surgeon's stress.
Posted ContentDOI
Feasibility of the set-up for the different approaches in robotic head and neck surgery with the Versius Surgical System
TL;DR: The Versius Surgical System as mentioned in this paper is a next generation soft-tissue robot with instrument and endoscope arms split into individual modules for transoral robotic surgery and four basic configurations for the remote access to the neck: transoral/transvestibular, retroauricular, axillary and bilateral axillo-breast approaches.
Book ChapterDOI
Planning Automatic Surgical Tasks for a Robot Assistant
Enrique Bauzano Núñez,Belen Estebanez Campos,Isabel Garcia Morales,Víctor Fernando Muñoz Martínez +3 more
TL;DR: This chapter focuses on the design and implementation of a robotic surgical motion controller, which has been designed for performing autonomous tasks to assist the surgeon with an additional instrument and an auto-guide velocity planner connected to a force controller.
Proceedings ArticleDOI
A novel fluid driven, foldable joint for minimally invasive surgery
TL;DR: The design and the development of a 1 degree of freedom (DOF) rotational joint is presented, which combines a foldable mechanism and a fluidic actuation system for obtaining force magnification within a slender structure.
Proceedings ArticleDOI
Configuration of Laparoscope Holding Manipulator
TL;DR: This paper presents a preliminary configuration of laparoscope holding manipulator for minimally invasive surgical robot that consists of three parts, they are positioning mechanism, distal mechanism and quick-changing box.
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.