4.7 Article

Design and Kinematics of a Robotic Instrument for Natural Orifice Transluminal Endoscopic Surgery

相关参考文献

注意:仅列出部分参考文献,下载原文获取全部文献信息。
Article Robotics

FIORA : A Flexible Tendon-Driven Continuum Manipulator for Laparoscopic Surgery

Fuhao Wang et al.

Summary: This letter presents a flexible tendon-driven continuum surgical manipulator called FLORA, which aims to solve the problems of low flexibility, poor internal extension, and chopstick effect in most laparoscopic surgical robots. The manipulator is composed of three independent flexible segments in series, driven by twelve tendons, and has good flexibility and rigidity. It also features a compact actuation unit and a kinematic modeling method based on piecewise constant curvature model, which can accurately model and fast decouple the manipulator.

IEEE ROBOTICS AND AUTOMATION LETTERS (2022)

Article Automation & Control Systems

Design Optimization of Asymmetric Patterns for Variable Stiffness of Continuum Tubular Robots

Soyeon Park et al.

Summary: This study aims to optimize the pattern design to maximize the stiffness ratio and prevent buckling. Longitudinal slits are identified as the ideal shape for maximizing the ratio. Effects of design parameters are investigated through analytical modeling and finite-element analysis. A design optimization process is established to maximize the variable stiffness ratio while ensuring safety. The experimental and FEA tests confirm the effectiveness of the proposed optimization method.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2022)

Article Robotics

A Miniature Manipulator With Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery

Changsheng Li et al.

Summary: This paper introduces a novel miniature manipulator with variable stiffness, suitable for minimally invasive endoscopic surgery, enabling basic operations such as grasping and stripping. The manipulator achieves flexibility through the use of flexible tubes and torque coils, while implementing variable stiffness through worm gears and a spring-sliding block-based driver system, demonstrating high grasping force and stiffness adjustment rates.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

Article Engineering, Biomedical

Continuum Robot With Follow-the-Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy

Yuanqian Gao et al.

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING (2020)

Article Automation & Control Systems

Flexible Robot With Variable Stiffness in Transoral Surgery

Changsheng Li et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2020)

Article Engineering, Biomedical

A Temperature-Dependent, Variable-Stiffness Endoscopic Robotic Manipulator with Active Heating and Cooling

Huu Minh Le et al.

ANNALS OF BIOMEDICAL ENGINEERING (2020)

Article Robotics

Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot

Seokhwan Jeong et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2020)

Article Engineering, Mechanical

A continuum manipulator for continuously variable stiffness and its stiffness control formulation

Bin Zhao et al.

MECHANISM AND MACHINE THEORY (2020)

Proceedings Paper Automation & Control Systems

Payload optimization of surgical instruments with rolling joint mechanisms

Dong-Ho Lee et al.

2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2020)

Article Robotics

Design and Fabrication of a 3-D Printed Metallic Flexible Joint for Snake-Like Surgical Robot

Yang Hu et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2019)

Article Robotics

Toward a Variable Stiffness Surgical Manipulator Based on Fiber Jamming Transition

Margherita Brancadoro et al.

FRONTIERS IN ROBOTICS AND AI (2019)

Article Surgery

Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single-site surgery (LESS)

Jianchen Wang et al.

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY (2018)

Article Engineering, Biomedical

A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD

Lucile Zorn et al.

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING (2018)

Article Automation & Control Systems

Development of a Novel Continuum Robotic System for Maxillary Sinus Surgery

Wuzhou Hong et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2018)

Article Robotics

Stiffening Sheaths for Continuum Robots

Marlene Langer et al.

SOFT ROBOTICS (2018)

Proceedings Paper Engineering, Electrical & Electronic

Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

Z. X. Yang et al.

INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHANTRONICS (ICROM 2017) (2018)

Article Surgery

A single port surgical robot system with novel elbow joint mechanism for high force transmission

Minho Hwang et al.

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY (2017)

Article Engineering, Biomedical

A Single-Port Robotic Platform for Laparoscopic Surgery with a Large Central Channel for Additional Instrument

K. L. Yung et al.

ANNALS OF BIOMEDICAL ENGINEERING (2017)

Review Urology & Nephrology

Current status of robotic single-port surgery

Ryan J. Nelson et al.

UROLOGY ANNALS (2017)

Article Robotics

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Konrad Leibrandt et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2017)

Article Automation & Control Systems

A Flexible Surgical Robotic System for Removal of Early-Stage Gastrointestinal Cancers by Endoscopic Submucosal Dissection

Ka Chun Lau et al.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2016)

Review Urology & Nephrology

Robotic Single-port Surgery: Paving the Way for the Future

Daniel Ramirez et al.

UROLOGY (2016)

Article Robotics

Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots

Dae-Young Lee et al.

IEEE TRANSACTIONS ON ROBOTICS (2015)

Article Robotics

Continuum Robots for Medical Applications: A Survey

Jessica Burgner-Kahrs et al.

IEEE TRANSACTIONS ON ROBOTICS (2015)

Article Automation & Control Systems

Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy

Kai Xu et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2015)

Article Robotics

A Novel Device for Measuring Forces in Endoluminal Procedures Regular Paper

Tommaso Ranzani et al.

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS (2015)

Review Surgery

A state of the art review and categorization of multi-branched instruments for NOTES and SILS

Ewout A. Arkenbout et al.

SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES (2015)

Review Engineering, Biomedical

Classification of Joints Used in Steerable Instruments for Minimally Invasive Surgery-A Review of the State of the Art

Filip Jelinek et al.

JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME (2015)

Article Automation & Control Systems

Design of a Novel 4-DOF Wrist-Type Surgical Instrument With Enhanced Rigidity and Dexterity

Man Bok Hong et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2014)

Article Surgery

A single port laparoscopic surgery robot with high force transmission and a large workspace

Byungsik Cheon et al.

SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES (2014)

Article Automation & Control Systems

Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery

Jienan Ding et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2013)

Article Instruments & Instrumentation

Compliant articulation structure using superelastic NiTiNOL

Jiening Liu et al.

SMART MATERIALS AND STRUCTURES (2013)

Article Engineering, Manufacturing

Natural orifice translumenal endoscopic surgery: Current status and future technical development

Yongnam Song et al.

INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING (2013)

Article Engineering, Biomedical

Endoscope Shaft-Rigidity Control Mechanism: FORGUIDE

Arjo J. Loeve et al.

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING (2012)

Article Automation & Control Systems

Stackable 4-BAR Manipulators for Single Port Access Surgery

Hoyul Lee et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2012)

Review Robotics

Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review

Robert J. Webster et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2010)

Article Surgery

Robotic system for no-scar gastrointestinal surgery

S. J. Phee et al.

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY (2008)