Design of a novel bimanual robotic system for single

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Piccigallo, M. SPRINT, specifically designed for single-port laparoscopy, is a high-dexterity miniature robot, able to reproduce the movement of the hands of the surgeon, who controls the system through a master interface. It comprises two arms with six degrees of freedom DOFs that can be individually inserted and removed in a mm-diameter umbilical access port. The system is designed to leave a central lumen free during operations, thus allowing the insertion of other laparoscopic tools.

The four distal DOFs of each arm are actuated by on-board brushless dc motors, while the two proximal DOFs of the shoulder are actuated by external motors. The constraints generated by maximum size and power requirements led to the design of compact mechanisms for the actuation of the joints.

The wrist is actuated by three motors hosted in the forearm, with a peculiar differential mechanism that allows us to have intersecting roll-pitch-roll axes. Preliminary tests and validations were performed ex vivo by surgeons on a first prototype of the system.Skip to Main Content. A not-for-profit organization, IEEE is the world's largest technical professional organization dedicated to advancing technology for the benefit of humanity.

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Sign In. SPRINT, specifically designed for single-port laparoscopy, is a high-dexterity miniature robot, able to reproduce the movement of the hands of the surgeon, who controls the system through a master interface.

It comprises two arms with six degrees of freedom DOFs that can be individually inserted and removed in a mm-diameter umbilical access port. The system is designed to leave a central lumen free during operations, thus allowing the insertion of other laparoscopic tools. The four distal DOFs of each arm are actuated by on-board brushless dc motors, while the two proximal DOFs of the shoulder are actuated by external motors.

The constraints generated by maximum size and power requirements led to the design of compact mechanisms for the actuation of the joints. The wrist is actuated by three motors hosted in the forearm, with a peculiar differential mechanism that allows us to have intersecting roll-pitch-roll axes.

Preliminary tests and validations were performed ex vivo by surgeons on a first prototype of the system.

design of a novel bimanual robotic system for single

Article :. Date of Publication: 14 October DOI: Need Help?Single-port laparoscopic surgery SPLS is a novel surgical approach consisting of a single umbilical incision through which multiple instruments are inserted, thus avoiding additional incisions necessary in traditional multi-port laparoscopic surgery.

design of a novel bimanual robotic system for single

SPLS imposes a number of ergonomic restrictions on the surgeon. As a partial solution, several dedicated instruments, including hand-held manipulators with 6 degrees of freedom DOFhave been introduced to overcome these manipulative restrictions.

Robotics has the potential to overcome all of the ergonomic restrictions imposed by the SPLS approach. A novel, teleoperated, robotic platform has been developed. The robotic arms are introduced into the abdomen through a cylindrical introducer.

Laboratory tests have been performed with the prototype by experienced surgeons for pick and place and suturing exercises.

A new surgical robot for SPLS has been developed, and its usability and efficacy have been demonstrated.

The SPRINT may pave the way for the next generation of surgical robots, the arms of which are assembled inside the insufflated peritoneal cavity, providing full dexterity and manipulative ability with the SPLS approach.

This is a preview of subscription content, log in to check access. Rent this article via DeepDyve. Palep J Robotic assisted minimally invasive surgery. J Min Access Surg —7. Romanelli J, Earle D Single-port laparoscopic surgery: an overview. Surg Endosc — Tech Gastrointest Endosc — J Gastrointest Surg 15 12 — Wren SM, Curet MJ Single-port robotic cholecystectomy: results from a first human use clinical study of the new da Vinci single-site surgical platform.

Arch Surg — Pearl J, Ponsky J Natural orifice translumenal surgery: a critical review. J Gastroint Surg — Am J Surg — Download references. Correspondence to Gianluigi Petroni. Reprints and Permissions. Petroni, G. A novel intracorporeal assembling robotic system for single-port laparoscopic surgery.

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Surg Endosc 27, — Download citation. Received : 11 November Accepted : 11 June To browse Academia. Skip to main content. Log In Sign Up. Download Free PDF. Design of a Novel Bimanual Robotic System.

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Wenjun Xu. Natural ori- specifically designed for single-port laparoscopy, is a high-dexterity miniature robot, able to reproduce the movement of the hands of fices transluminal endoscopic surgery NOTES [2] is a totally the surgeon, who controls the system through a master interface.

The system is designed to leave a central vagina. Despite a clear esthetic benefit, the intentional perfora- lumen free during operations, thus allowing the insertion of other laparoscopic tools. The four distal DOFs of each arm are actuated tion of a healthy organ and the current lack of a well-established by on-board brushless dc motors, while the two proximal DOFs of method for closing such a perforation make NOTES effective the shoulder are actuated by external motors.

The constraints gen- mainly in the case of vaginal access [3], [4]. Additionally, at erated by maximum size and power requirements led to the design the moment NOTES is performed with traditional endoscopic of compact mechanisms for the actuation of the joints.

The wrist instrumentation that is not specifically designed for this kind of is actuated by three motors hosted in the forearm, with a peculiar differential mechanism that allows us to have intersecting roll— surgery [5]. Preliminary tests and validations were performed A novel technique that is halfway between traditional laparo- ex vivo by surgeons on a first prototype of the system.

design of a novel bimanual robotic system for single

This seems to SPL. L Surgical techniques of this kind consist of the use of stiff and long instruments that are inserted in the abdomen through tions than the laparoscopic approach, because it does not allow triangulation from two different points, thus severely limiting the dexterity of the surgeon, although several ad hoc instruments small incisions, after having inflated the abdominal cavity, while have been developed and are already on the market [6], [7].

The insertion points limit the freedom of movements The introduction of robotics in surgery generated a tremen- of a rigid laparoscopic instrument to only four degrees of free- dous impact, with over surgical robots in regular clini- dom DOFs : this means that each reachable point inside the cal use worldwide, and research and development at over abdomen can only be approached with a fixed orientation of the universities [9].

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In particular, the da Vinci Surgical System instrument, and that some anatomical regions are not accessi- Intuitive Surgical, Inc. Thanks to an Manuscript received February 24, ; revised June 18, ; accepted September 7, Date of publication October 14, ; date of current advanced cable-drive mechanism EndoWrist, Intuitive Surgi- version December 15, Recommended by Guest Editor K. Additionally, stereoscopic vision enables the Italy e-mail: m. These innovative features reduce by sssup. Recently, the da Vinci Digital Object Identifier Phases of insertion of the robotic arms, showing how two arms can fit through the umbilical access port a and b and be kept in working position by Fig.

The advan- limitations [15]. Sev- Up to four arms can be inserted: in addition to the two main eral robotic solutions have already been specifically designed arms, a stereoscopic-camera holder and, for example, a retractor for NOTES [16]—[18].

A novel intracorporeal assembling robotic system for single-port laparoscopic surgery

However, the lack of a stable anchoring could be introduced. A central lumen of 12 mm is left open and the size constraint imposed by the endoluminal access pre- after the insertion of the arms, and assistive tools could be vent them to reach the same performance in terms of force and inserted for additional tasks e. Other robotic devices needle, and wire.

A gripper, arranged in a serial configuration, and it is designed for robotic system designed for SPL may benefit from both a di- achieving a large workspace, necessary for completing surgical rect and rigid link with an external support and a considerably tasks while attached to the umbilical access port.The device is designed to be introduced through a standard trocar port. Once the device is inserted to the desired surgical site, it can be reconfigured by lifting an articulated section, and protruding two tendon driven flexible arms.

Each of the arms holds an interchangeable surgical instrument. The main shaft of the robot is largely hollow, leaving ample space for the insertion of two tendon driven flexible arms integrated with surgical instruments. The ex-vivo and in-vivo experiments demonstrate the potential clinical value of the device for performing surgical tasks through single incision or natural orifice transluminal procedures. The advantages of Minimally Invasive Surgery MIS are now well recognized, bringing reduced surgical trauma, shortened hospital stays, and improved patient recovery [ 1 ].

However its real-promise is in its flexible access, making it particularly suited for some of the gastrointestinal and gynaecological procedures. Thus far, most attempts of NOTES procedures are performed with either standard or modified endoscopes [ 4 - 6 ]. These devices, however, carry many ergonomic concerns largely because flexible endoscopes are not suitable for intra-abdominal tasks where appropriate counter-traction and accuracy are required.

Secondly, disorientation and operation difficulties are major hurdles to overcome applications because of the small field-of-view of the endoscope and device manipulation challenges due to a lack of consistent and repeatable control of the device [ 78 ]. These problems are not encountered in traditional laparoscopic surgery because of the rigid laparoscopic instruments used.

By carefully placing the incision points, good visualization and access to some certain surgical site can be achieved. However, it has restricted access to anatomical targets, requiring well-planned, multiple incision points. Furthermore, the fulcrum effect coupled with a lack of force control makes the procedure challenging to perform, which is often associated with a long learning curve. In line with the traditional laparoscopic surgery, Single Port Laparoscopic Surgery SILS is a branch of the laparoscopic surgery, which uses only one incision.

A multi-functional port is usually placed at the incision point and all the visualization and surgical instruments go through the same port.

The advantages of SILS compared to the traditional multi-port laparoscopic surgery include less invasion, better cosmetic results and less postoperative pain [ 910 ]. The disadvantages of SILS include operation difficulties due to the way to provide adequate triangulation for the instruments, entailing large external workspace and confliction between operators. A number of studies comparing the multitasking platforms with traditional dual-channel endoscopes have been performed [ 13 - 15 ].

It has been found that these platforms advantageous in terms of more stable control, however, limited triangulation and accuracy still represent major operation difficulties. Surgical robotic systems, such as the da Vinci Surgical System by Intuitive Surgical, on the other hand benefit from improved precision and ergonomics, better visualization, and the availability of remote surgery.

Despite its high cost, the clinical uptake of these surgical platforms is continuously expanding. In this regard, the development of a multitasking, bimanual platform with robotically controlled actuations has clear advantages. Thus far, a number of research platforms for flexible access surgery have been developed.SPRINT, specifically designed for single-port laparoscopy, is a high-dexterity miniature robot, able to reproduce the movement of the hands of the surgeon, who controls the system through a master interface.

It comprises two arms with six degrees of freedom DOFs that can be individually inserted and removed in a mm-diameter umbilical access port. The system is designed to leave a central lumen free during operations, thus allowing the insertion of other laparoscopic tools. The four distal DOFs of each arm are actuated by on-board brushless dc motors, while the two proximal DOFs of the shoulder are actuated by external motors.

Bimanual Dexterous Robotic Platform (Robo Sally)

The constraints gen-erated by maximum size and power requirements led to the design of compact mechanisms for the actuation of the joints. The wrist is actuated by three motors hosted in the forearm, with a peculiar differential mechanism that allows us to have intersecting roll— pitch—roll axes. Preliminary tests and validations were performed ex vivo by surgeons on a first prototype of the system.

design of a novel bimanual robotic system for single

Index Terms—Bimanual robot, miniature robotic arm, mini-mally invasive surgery, robotic surgery, single-port laparoscopy SPL. Documents: Advanced Search Include Citations.

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