Robot-assisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional techniques. To improve dexterity and back-drivability of existing planar remote center-of-motion (RCM) mechanism, on which an active prismatic joint is required to drive surgical tool move in–out patient's body, a two degrees-of-freedom (DOFs) RCM mechanism proposed by constructing virtual parallelograms in this paper. The can be considered as generalized double parallelogram; both actuated...

Robot-assisted telesurgery can perform complex surgical manipulations from remote locations. Against the requirements of controlling for minimally invasive laparoscopic surgery robot, a prototype system integrated on existing “MicroHand S” robot was built. The worked with Internet, and communication protocol set up based Transmission Control Protocol/Internet Protocol. stereo images laparoscopy were transmitted by hardware-based H.264 encoder/decoder. A demonstration environment...

Port placement planning is an important aspect in minimally invasive robotic surgery. Proper port can improve the quality and efficiency of This paper proposes a new concise method based on workspace surgery required. Robotic-assisted cholecystectomy selected to expound this method. Optimal robotic-assisted discussed simulated through

The robot-assisted minimally invasive surgery (RMIS) has developed rapidly in recent years, requiring highly articulated instruments to enable surgeons perform complicated and precise procedures.A novel wrist-type surgical instrument was proposed for RMIS. wrist consists of superelastic-wire-driven snake-like joints universal joints, which could two deflections one distal rotation. bending mechanism the kinematics were analysed. forward inverse derived.The performances evaluated using a...

Most of the existing numerical optimization methods are based upon a discretization some ordinary differential equations. In order to solve convex and smooth problems coming from machine learning, in this paper, we develop efficient batch online algorithms on new principle, i.e., optimized continuous dynamical systems (ODCDSs). First, learning projected gradient system with Lyapunov's stability monotonic property is introduced, its behavior guarantees accuracy discretization-based optimizer...

Abstract Background A new device has been added to the Chinese MicroHand surgical robot family, developed based on successful application of control algorithms. As a benefit using these specialized algorithms, motion mapping relation can be accommodated into system without help built-in image system, resulting in novel domestic with two arms called SII, which is different from former S and da Vinci systems. In this study, we investigate performance SII robotic platform patients obesity....

Abstract Current surgical instruments with fewer degrees-of-freedom (DOF) for minimally invasive surgery (MIS) have limited capability to perform complicated and precise procedures, such as suturing knot-tying. To address a problem, modular dexterous hand-held robot an ergonomic handle 4DOF interchangeable was developed. The kinematic arrangement of the instrument that were designed be same. A compact roll-yaw-roll transmission proposed applying cable-driven mechanism. Performance...

During minimally invasive surgery (MIS), the movements of instrument handle are scaled and mirrored. Some surgical tasks, such as suturing knotting, difficult to finish due unnatural hand-eye coordination limited degree freedom (DOF). This paper presents a cable-driven arm for robot that can help surgeons in MIS. The robotic fulfills requirements MIS by specially designed mechanical structure. Kinematic analysis workspace discussed paper. dexterity is shown simulation method which also be...

Existing minimally invasive surgical (MIS) robots are generally large, complex and expensive, which greatly increases the operation cost limits applications of MIS robot technology. To solve these problems, a small table-attached that combines high efficiency traditional technique dexterity robotic operations is proposed in this paper. The master slave manipulators new integrated, allows surgeon to manipulate next table. Moreover, novel design can be used with existing instruments, providing...

Abstract Adding redundant passive joints to a robotic arm is an effective way make the robot overcome inherent incision constraint of minimally invasive surgery (MIS). However, due limited motion accuracy, it difficult realize full-dimensional intuitive based on traditional multi-axis coordinated control technology in this kind MIS robots. To solve problem, separated position and orientation mapping strategy for with proposed paper. The are realized by coordinate joint direct technique,...

Abstract Background The conventional hand‐held minimally invasive surgical devices commonly suffer from non‐intuitive manipulability and restricted flexibility for operation. Methods A device with enhanced intuitive stable grip force was proposed surgery (MIS). dexterous instrument isomorphic handle were designed, the cable transmission structure model of analysed. modelling method pre‐compensation to produce forces under different posture. Results prototype MIS developed, related...

Soft cable-driven systems have been employed in many assembled mechanisms, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands. A pre-stretching process is necessary to guarantee the quality of during assembly process. However, stress relaxation cables becomes a critical concern long-term operation. This study investigates effects non-uniform deformation driven owing moving parts system. simple closed-loop system built an alternating load...

Medical robotic system can extend surgeon's ability in minimally invasive surgery (MIS), which requires hand-eye coordination and dexterity of operation. According to surgical tasks, the control a novel robot is proposed. The modularized designed meet demands various requirements surgery, algorithm established realize alignment between master slave system. preliminary motion experiments verify effectiveness

Nowadays, gastrointestinal cancer has widely impacted people's health worldwide due to its high mortality rate. Early treatment of by endoscopic procedure can greatly increase survival rates patients. Nevertheless, current flexible instruments lack degree freedom and surgical triangulation, thereby presenting challenges in the execution procedures. To solve these problems, this letter proposes a novel miniature dual-bending instrument with an outer diameter 2.8 mm length 1100 mm, which is...

Abstract In recent years, China’s electric power industry has made great progress, especially the achievements of ultra high voltage and transmission transformation technology have attracted worldwide attention. At present, China put into operation projects such as ±660kV yin-East DC extra-high voltage, ±800kV upward, Yunnan-Guangzhou 1000kV Dongnan Jindong-Jingmen AC voltage. These long-distance large-capacity provide strong technical support for realization national strategic goal “west to...

Abstract The precise construction of the master-slave control strategy is a fundamental requirement for robot-assisted surgery. In this study, we propose gastrointestinal surgical robots based on natural orifice transluminal endoscopic surgery robot developed by Tianjin University. forward and inverse kinematics continuum mechanism at slave manipulator are investigated. A coordinate mapping system established analyzing kinematic characteristics master manipulators. Additionally, an intuitive...

Safety in Minimally Invasive Surgery (MIS) has drawn much attention since medical robots are increasingly being used hospitals. Among all the safety assurances, mechanical assurance is basic requirement for a robot, but traditional methods industrial not enough robots. In this paper, novel type of joint protection module MIS including power transmission module, connector and output shaft proposed, which can be to eliminate hazards caused by overload out control motor during MIS. Mechanical...

Abstract Background A new member has been added to the Chinese MicroHand surgical robot family, developed based on successful application of control algorithms. As a benefit using these specialized algorithms, motion mapping relation can be built up without help built-in image system, resulting in novel domestic with two arms called SⅡ, which is different from former S and da Vinci systems. The analysis technique clinical practise perform sleeve gastrectomy not well presented. In this study,...

Abstract Background: A new member has been added to the Chinese MicroHand surgical robot family, developed based on successful application of control algorithms. As a benefit using these specialized algorithms, motion mapping relation can be built up without help built-in image system, resulting in novel domestic with two arms called SⅡ, which is different from former S and da Vinci systems. The analysis technique clinical practise perform sleeve gastrectomy not well presented. In this...