25 results found
Gras GG, Leibrandt KL, Wisanuvej PW, et al., 2017, Implicit Gaze-Assisted Adaptive Motion Scaling for Highly Articulated Instrument Manipulation, International Conference on Robotics and Automation (ICRA), Publisher: IEEE, ISSN: 2152-4092
Traditional robotic surgical systems rely entirely on robotic arms to triangulate articulated instruments inside the human anatomy. This configuration can be ill-suited for working in tight spaces or during single access approaches, where little to no triangulation between the instrument shafts is possible. The control of these instruments is further obstructed by ergonomic issues: The presence of motion scaling imposes the use of clutching mechanics to avoid the workspace limitations of master devices, and forces the user to choose between slow, precise movements, or fast, less accurate ones. This paper presents a bi-manual system using novel self-triangulating 6-degrees-of-freedom (DoF) tools through a flexible elbow, which are mounted on robotic arms. The control scheme for the resulting 9-DoF system is detailed, with particular emphasis placed on retaining maximum dexterity close to joint limits. Furthermore, this paper introduces the concept of gaze-assisted adaptive motion scaling. By combining eye tracking with hand motion and instrument information, the system is capable of inferring the user's destination and modifying the motion scaling accordingly. This safe, novel approach allows the user to quickly reach distant locations while retaining full precision for delicate manoeuvres. The performance and usability of this adaptive motion scaling is evaluated in a user study, showing a clear improvement in task completion speed and in the reduction of the need for clutching.
Leibrandt K, Wisanuvej P, Gras G, et al., 2017, Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery, IEEE Robotics and Automation Letters, Vol: 2, Pages: 1704-1711, ISSN: 2377-3766
The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace through natural orifices such as the mouth or the anus. Due to the long and narrow nature of these access pathways, external triangulation at the fulcrum point is very limited or absent, which makes introducing multiple degrees of freedom at the distal end of the instrument necessary. Additionally, high force and miniaturization requirements make the control of such instruments particularly challenging. This letter presents the kinematic considerations needed to effectively manipulate these novel instruments and allow us their dexterous control in confined spaces. A nonlinear calibration model is further used to map joint to actuator space and improve significantly the precision of the instrument's motion. The effectiveness of the presented approach is quantified with bench tests, and the usability of the system is assessed by three user studies simulating the requirements of a realistic surgical task.
Shang J, Leibrandt K, Giataganas P, et al., 2017, A Single-Port Robotic System for Transanal Microsurgery—Design and Validation, IEEE Robotics and Automation Letters, Vol: 2, Pages: 1510-1517, ISSN: 2377-3766
This letter introduces a single-port robotic platform for transanal endoscopic microsurgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or full-thickness dissection. This system is intended to replace the conventional TEMS approach that uses manual laparoscopic instruments. The new system is based on master-slave robotically controlled tele-manipulation. The slave robot comprises a support arm that is mounted on the operating table, supporting a surgical port and a robotic platform that drives the surgical instruments. The master console includes a pair of haptic devices, as well as a three-dimensional display showing the live video stream of a stereo endoscope inserted through the surgical port. The surgical instrumentation consists of energy delivery devices, graspers, and needle drivers allowing a full TEMS procedure to be performed. Results from benchtop tests, ex vivo animal tissue evaluation, and in vivo studies demonstrate the clinical advantage of the proposed system.
Seneci CA, Leibrandt KL, Wisanuvej PW, et al., 2016, Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity, IROS 2016, Publisher: IEEE, ISSN: 2153-0866
This paper introduces the design and characterization of a robotic surgical instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the instrument.
Patel N, Seneci CA, Shang J, et al., 2015, Evaluation of a novel flexible snake robot for endoluminal surgery, SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES, Vol: 29, Pages: 3349-3355, ISSN: 0930-2794
King HK, Shang JS, Liu JL, et al., 2015, Micro-IGES Robot for Transanal Robotic Microsurgery., In The Hamlyn Symposium on Medical Robotics.
Clark J, Noonan DP, Vitiello V, et al., 2015, A novel flexible hyper-redundant surgical robot: prototype evaluation using a single incision flexible access pelvic application as a clinical exemplar, SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES, Vol: 29, Pages: 658-667, ISSN: 0930-2794
Seneci CA, Shang J, Darzi A, et al., 2015, Rapid Manufacturing with Selective Laser Melting for Robotic Surgical Tools: Design and Process Considerations, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 824-830, ISSN: 2153-0858
Seneci CA, Shang J, Leibrandt K, et al., 2014, Design and evaluation of a novel flexible robot for transluminal and endoluminal surgery, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pages: 1314-1321
Precise and repetitive positional control of surgical robots is important to reduce time and risks of surgical procedures. These factors become particularly important when deploying the surgical system through a flexible path to areas with a tight workspace such as the stomach or oesophagus where high dexterity, flexibility, accuracy and stability are required. This paper presents a flexible access robot combining articulated joints and continuum flexible section for both transluminal and endoluminal surgeries. Kinematic model and control strategy for the flexible robot are described in the paper. The experiment simulating a transoral gastric procedure demonstrates great flexibility and dexterity of the device. The results show that good accuracy and repetitive control of the device are achieved, which demonstrate the potential application of the device for transluminal or endoluminal surgery.
Seneci CA, shang JS, Yang GZY, 2014, Design of a bimanual end-effector for an endoscopicsurgical robot., The Hamlyn Symposium on Medical Robotics 2014.
zhang ZZ, shang JS, Seneci CA, et al., 2013, Snake robot shape sensing using microinertial sensors., In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Seneci CA, Shang JS, Yang GZY, 2013, Design and FEM Simulation of a Miniaturized WristedSurgical Grasper, Hamlyn Symposium on Surgical Robotics 2013
patel NP, cundy TPC, shang JS, et al., 2013, Endoscopic Submucosal Dissection for Gastric Lesions using a Flexible Snake Robot–Early Assessment and Feasibility Study., In The Hamlyn Symposium on Medical Robotics
cundy TPC, patel NP, shang JS, et al., 2013, Per-Oral Endoscopic Cardiomyotomy and Pyloromyotomy using a Flexible Snake Robot–Proof of Concept with a Porcine Model., In The Hamlyn Symposium on Medical Robotics
Zhang Z, Shang J, Seneci C, et al., 2013, Snake Robot Shape Sensing Using Micro-inertial Sensors, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 831-836, ISSN: 2153-0858
Shang J, Payne CJ, Clark J, et al., 2012, Design of a Multitasking Robotic Platform with Flexible Arms and Articulated Head for Minimally Invasive Surgery, International Conference on Intelligent Robots and Systems
Newton RC, Noonan DP, Vitiello V, et al., 2012, Robot-assisted transvaginal peritoneoscopy using confocal endomicroscopy: a feasibility study in a porcine model, SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES, Vol: 26, Pages: 2532-2540, ISSN: 0930-2794
Noonan DP, Vitiello V, Shang J, et al., 2011, A modular, mechatronic joint design for a flexible access platform for MIS, Pages: 949-954
Latt WT, Newton R, Visentini-Scarzanella M, et al., 2011, A Hand-held Instrument to Maintain Steady Tissue Contact during Probe-Based Confocal Laser Endomicroscopy, Biomedical Engineering, IEEE Transactions on, Vol: 58, Pages: 2694-2703
Shang J, Noonan DP, Payne C, et al., 2011, An articulated universal joint based flexible access robot for minimally invasive surgery, Pages: 1147-1152
Noonan DP, Payne CJ, Shang J, et al., 2010, Force adaptive multi-spectral imaging with an articulated robotic endoscope, Med Image Comput Comput Assist Interv, Vol: 13, Pages: 245-252
Recent developments in optical spectroscopic techniques have permitted in vivo, in situ cellular and molecular sensing and imaging to allow for real-time tissue characterization, functional assessment, and intraoperative guidance. The small area sensed by these probes, however, presents unique challenges when attempting to obtain useful tissue information in-vivo due to the need to maintain constant distance or contact with the target, and tissue deformation. In practice, the effective area can be increased by translating the tip of the probe over the tissue surface and generating functional maps of the underlying tissue response. However, achieving such controlled motions under manual guidance is very difficult, particularly since the probe is typically passed down the instrument channel of a flexible endoscope. This paper describes a force adaptive multi-spectral imaging system integrated with an articulated robotic endoscope that allows a constant contact force to be maintained between the probe and the tissue as the robot tip is actuated across complex tissue profiles. Detailed phantom and ex-vivo tissue validation is provided.
Noonan D, Payne C, Shang J, et al., 2010, Force adaptive multi-spectral imaging with an articulated robotic endoscope, Publisher: Springer, Pages: 245-252
Noonan DP, Mylonas GP, Shang J, et al., 2010, Gaze contingent control for an articulated mechatronic laparoscope, Pages: 759-764
Shang J, Sattar T, Bridge B, 2008, Development of a Climbing Robot for Inspection of Long Weld Lines, Industrial Robot: An International Journal, Vol: 35
Shang J, Sattar T, Chen S, et al., 2007, Design of a climbing robot for inspecting aircraft wings and fuselage, Industrial Robot: An International Journal, Vol: 34
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