Improved mobile wireless in vivo surgical robots: Modular design, experimental results, and analysis

[1]  Sarah F. Frisken.  3D Chainmail: A Fast Algorithm for Deforming Volumetric Objects , 1997, SI3D.

[2]  C. Paloc,et al.  Online Remeshing for Soft Tissue Simulation in Surgical Training , 2006, IEEE Computer Graphics and Applications.

[3]  Demetri Terzopoulos,et al.  Modeling inelastic deformation: viscolelasticity, plasticity, fracture , 1988, SIGGRAPH.

[4]  Blake Hannaford,et al.  Smart surgical tools and augmenting devices , 2003, IEEE Trans. Robotics Autom..

[5]  G. Ballantyne.  Robotic surgery, telerobotic surgery, telepresence, and telementoring. Review of early clinical results. , 2002, Surgical endoscopy.

[6]  Denis Laurendeau,et al.  Modelling liver tissue properties using a non-linear visco-elastic model for surgery simulation , 2005, Medical Image Anal..

[7]  M. Mack,et al.  Minimally invasive and robotic surgery. , 2001, JAMA.

[8]  Gershon Elber,et al.  Discontinuous free form deformations , 2004, 12th Pacific Conference on Computer Graphics and Applications, 2004. PG 2004. Proceedings..

[9]  M. Bro-Nielsen,et al.  VR simulation of abdominal trauma surgery. , 1998, Studies in health technology and informatics.

[10]  Paul Breedveld,et al.  Locomotion Through the Intestine by Means of Rolling Stents , 2004 .

[11]  M. Bro-Nielsen,et al.  Finite element modeling in surgery simulation , 1998, Proc. IEEE.

[12]  A. Glukhovsky,et al.  The development and application of wireless capsule endoscopy , 2004, The international journal of medical robotics + computer assisted surgery : MRCAS.

[13]  John Hu,et al.  Soft Tissue Deformation and Cutting Simulation for the Multimodal Surgery Training , 2006, 19th IEEE Symposium on Computer-Based Medical Systems (CBMS'06).

[14]  N A Patronik,et al.  Preliminary evaluation of a mobile robotic device for navigation and intervention on the beating heart , 2005, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[15]  S. Cowin,et al.  Biomechanics: Mechanical Properties of Living Tissues, 2nd ed. , 1994 .

[16]  Shane Farritor,et al.  Miniature in vivo Robots for Remote and Harsh Environments , 2008, IEEE Transactions on Information Technology in Biomedicine.

[17]  A.C.W. Lau,et al.  Modeling In vivo Soft Tissue Probing , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[18]  Cagatay Basdogan,et al.  A robotic indenter for minimally invasive measurement and characterization of soft tissue response , 2007, Medical Image Anal..

[19]  Lewis L. Sadler,et al.  Virtual Reality Vitrectomy Simulator , 1998, MICCAI.

[20]  F. Velardi,et al.  Anisotropic constitutive equations and experimental tensile behavior of brain tissue , 2006, Biomechanics and modeling in mechanobiology.

[21]  T. G. Frank,et al.  Puncture forces of solid organ surfaces , 2000, Surgical Endoscopy.

[22]  Paolo Cignoni,et al.  A Multiresolution Model for Soft Objects Supporting Interactive Cuts and Lacerations , 2000, Comput. Graph. Forum.

[23]  James A. Young,et al.  Early Experience with Telemanipulative Robot-Assisted Laparoscopic Cholecystectomy Using da Vinci , 2002, Surgical laparoscopy, endoscopy & percutaneous techniques.

[24]  Y Kamei,et al.  Robotic Forceps Manipulator With a Novel Bending Mechanism , 2010, IEEE/ASME Transactions on Mechatronics.

[25]  S. F. Frisken-Gibson.  Using linked volumes to model object collisions, deformation, cutting, carving, and joining , 1999 .

[26]  Peter Kazanzides,et al.  Surgical and interventional robotics: Part II , 2008, IEEE Robotics & Automation Magazine.

[27]  Guozheng Yan,et al.  Development of a micro‐robot for endoscopes based on wireless power transfer , 2008, Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy.

[28]  Cagatay Basdogan,et al.  Real-Time Finite-Element Simulation of Linear Viscoelastic Tissue Behavior Based on Experimental Data , 2006, IEEE Computer Graphics and Applications.

[29]  Stephane Cotin,et al.  A hybrid elastic model for real-time cutting, deformations, and force feedback for surgery training and simulation , 1999, Proceedings Computer Animation 1999.

[30]  Esra Roan,et al.  The nonlinear material properties of liver tissue determined from no-slip uniaxial compression experiments. , 2007, Journal of biomechanical engineering.

[31]  Takeo Kanade,et al.  Modifying Soft Tissue Models: Progressive Cutting with Minimal New Element Creation , 2000, MICCAI.

[32]  Paolo Dario,et al.  Analysis and development of locomotion devices for the gastrointestinal tract , 2002, IEEE Transactions on Biomedical Engineering.

[33]  P. Dario,et al.  Shape memory alloy clamping devices of a capsule for monitoring tasks in the gastrointestinal tract , 2005 .

[34]  Bert Willaert,et al.  In vivo soft tissue damage assessment for applications in surgery. , 2010, Medical engineering & physics.

[35]  Daniel Thalmann,et al.  Deformable Tissue Parameterized by Properties of Real Biological Tissue , 2003, IS4TH.

[36]  Allison M. Okamura,et al.  A fracture mechanics approach to haptic synthesis of tissue cutting with scissors , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[37]  Mark Rentschler,et al.  Vision and Task Assistance Using Modular Wireless In Vivo Surgical Robots , 2009, IEEE Transactions on Biomedical Engineering.

[38]  M. Prange,et al.  Regional, directional, and age-dependent properties of the brain undergoing large deformation. , 2002, Journal of biomechanical engineering.

[39]  S. Shankar Sastry,et al.  Applications of micromechatronics in minimally invasive surgery , 1998 .

[40]  Shane M. Farritor,et al.  Mechanical Design of Robotic In Vivo Wheeled Mobility , 2007 .

[41]  Brian Mirtich,et al.  A Survey of Deformable Modeling in Computer Graphics , 1997 .

[42]  David S. Barrett,et al.  Tomorrow's surgery: Micromotors and microrobots for minimally invasive procedures , 1998 .

[43]  Shane Farritor,et al.  A Modular Wireless In Vivo Surgical Robot with Multiple Surgical Applications , 2009, MMVR.

[44]  S. Shankar Sastry,et al.  Robotics for telesurgery: second generation Berkeley/UCSF laparoscopic telesurgical workstation and looking towards the future applications , 2003, Ind. Robot.

[45]  Edoardo Mazza,et al.  Dynamic measurement of soft tissue viscoelastic properties with a torsional resonator device , 2005, Medical Image Anal..

[46]  Kup-Sze Choi,et al.  Deformable simulation using force propagation model with finite element optimization , 2004, Comput. Graph..

[47]  Marco A. Zenati,et al.  Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions , 2004, MICCAI.

[48]  Hervé Delingette,et al.  Soft Tissue Modeling for Surgery Simulation , 2004 .

[49]  Suvranu De,et al.  Physically Realistic Virtual Surgery Using the Point-Associated Finite Field (PAFF) Approach , 2006, PRESENCE: Teleoperators and Virtual Environments.

[50]  Alfred Cuschieri,et al.  Technology for minimal access surgery , 1999 .

[51]  K. Miller,et al.  Total Lagrangian explicit dynamics finite element algorithm for computing soft tissue deformation , 2006 .

[52]  Reinhard Männer,et al.  Biomechanical Simulation of the Vitreous Humor in the Eye Using and Enhanced ChainMail Algorithm , 1998, MICCAI.

[53]  M.G. Fujie,et al.  Developing an Intraoperative Methodology Using the Finite Element Method and the Extended Kalman Filter to Identify the Material Parameters of an Organ Model , 2007, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[54]  Frank Tendick,et al.  Adaptive Nonlinear Finite Elements for Deformable Body Simulation Using Dynamic Progressive Meshes , 2001, Comput. Graph. Forum.

[55]  M. Gagner,et al.  Comparison of laparoscopic skills performance between standard instruments and two surgical robotic systems , 2003, Surgical Endoscopy And Other Interventional Techniques.

[56]  Shoichi Iikura,et al.  Development of flexible microactuator and its applications to robotic mechanisms , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[57]  Hervé Delingette,et al.  Nonlinear and anisotropic elastic soft tissue models for medical simulation , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[58]  Christopher B. Jones.  Geographical Information Systems and Computer Cartography , 1997 .

[59]  Julian Delany.  Rising Stars , 2003, Science.

[60]  Hervé Delingette,et al.  Toward realistic soft-tissue modeling in medical simulation , 1998, Proc. IEEE.

[61]  Shane Farritor,et al.  In vivo robots for laparoscopic surgery. , 2004, Studies in health technology and informatics.

[62]  Byungkyu Kim,et al.  An earthworm-like micro robot using shape memory alloy actuator , 2006 .

[63]  Han-Wen Nienhuys,et al.  A Surgery Simulation Supporting Cuts and Finite Element Deformation , 2001, MICCAI.

[64]  M. Ottensmeyer.  Minimally invasive instrument for in vivo measurement of solid organ mechanical impedance , 2001 .

[65]  Norberto F. Ezquerra,et al.  Interactively deformable models for surgery simulation , 1993, IEEE Computer Graphics and Applications.

[66]  Cameron N. Riviere,et al.  Toward active tremor canceling in handheld microsurgical instruments , 2003, IEEE Trans. Robotics Autom..

[67]  Jianfeng Xu,et al.  Real-Time Simulation of Deformable Soft Tissue Based on Mass-Spring and Medial Representation , 2005, CVBIA.

[68]  Jason Dumpert,et al.  An In Vivo Mobile Robot for Surgical Vision and Task Assistance , 2007 .

[69]  Shane Farritor,et al.  Towards an In Vivo Wireless Mobile Robot for Surgical Assistance , 2008, MMVR.

[70]  Shane Farritor,et al.  Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility , 2006, IEEE Transactions on Robotics.

[71]  Christian Laugier,et al.  Modeling the Dynamics of a Human Liver for a Minimally Invasive Surgery Simulator , 1999, MICCAI.

[72]  G. Meron.  The development of the swallowable video capsule (M2A). , 2000, Gastrointestinal endoscopy.

[73]  Markus H. Gross,et al.  Interactive Cuts through 3‐Dimensional Soft Tissue , 1999, Comput. Graph. Forum.

[74]  John C. Platt,et al.  Elastically deformable models , 1987, SIGGRAPH.

[75]  Peter Kazanzides,et al.  Surgical and Interventional Robotics: Core Concepts, Technology, and Design. , 2008, IEEE robotics & automation magazine.

[76]  Kenneth I. Joy,et al.  Free-form deformations with lattices of arbitrary topology , 1996, SIGGRAPH.

[77]  Arianna Menciassi,et al.  Modeling and Experiments on a Legged Microrobot Locomoting in a Tubular, Compliant and Slippery Environment , 2006, Int. J. Robotics Res..

[78]  Ji Ma,et al.  A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery , 2009, Int. J. Robotics Res..

[79]  Sabine Coquillart,et al.  Extended free-form deformation: a sculpturing tool for 3D geometric modeling , 1990, SIGGRAPH.

[80]  David H. Gracias,et al.  Toward a miniaturized mechanical surgeon , 2009 .

[81]  Allison M. Okamura,et al.  Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models , 2007, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07).

[82]  LU,et al.  Telesurgery and Surgical Simulation : Haptic Interfaces to Real and Virtual Surgical Environments , 2001 .

[83]  P. Dario,et al.  Locomotion of a legged capsule in the gastrointestinal tract: theoretical study and preliminary technological results , 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[84]  D. Nio,et al.  Efficiency of manual versus robotical (Zeus) assisted laparoscopic surgery in the performance of standardized tasks , 2001, Surgical Endoscopy And Other Interventional Techniques.

[85]  Wei Tech Ang,et al.  Active tremor compensation in handheld instrument for microsurgery , 2004 .

[86]  Peter K. Allen,et al.  In-vivo pan/tilt endoscope with integrated light source , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[87]  Chen Lin,et al.  Real-Time Simulation for Global Deformation of Soft Tissue Using Deformable Centerline and Medial Representation , 2006, ISBMS.

[88]  Jason James Dumpert,et al.  Towards supervised autonomous task completion using an in vivo surgical robot , 2009 .

[89]  Karol Miller,et al.  COMPRESSION OF SWINE BRAIN TISSUE ; EXPERIMENT IN VIVO , 1996 .

[90]  Blake Hannaford,et al.  Spherical mechanism analysis of a surgical robot for minimally invasive surgery -- analytical and experimental approaches. , 2005, Studies in health technology and informatics.

[91]  Han-Wen Nienhuys,et al.  Combining finite element deformation with cutting for surgery simulations , 2000, Eurographics.

[92]  Allison M. Okamura,et al.  Force modeling for needle insertion into soft tissue , 2004, IEEE Transactions on Biomedical Engineering.

[93]  Naoki Suzuki,et al.  Sphere-filled organ model for virtual surgery system , 2004, IEEE Transactions on Medical Imaging.

[94]  Markus H. Gross,et al.  Interactive simulation of surgical cuts , 2000, Proceedings the Eighth Pacific Conference on Computer Graphics and Applications.

[95]  Dennis Fowler,et al.  In-vivo stereoscopic imaging system with 5 degrees-of-freedom for minimal access surgery. , 2004, Studies in health technology and informatics.

[96]  Robert L. Galloway,et al.  Compensating for intraoperative soft-tissue deformations using incomplete surface data and finite elements , 2005, IEEE Transactions on Medical Imaging.

[97]  I. Sakuma,et al.  Combined compression and elongation experiments and non-linear modelling of liver tissue for surgical simulation , 2004, Medical and Biological Engineering and Computing.

[98]  Marco A. Zenati,et al.  A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart , 2009, IEEE Transactions on Robotics.

[99]  Jess Gerrit Snedeker,et al.  Mechanical Characterization of the Liver Capsule and Parenchyma , 2006, ISBMS.

[100]  Hualiang Zhong,et al.  A real time hyperelastic tissue model , 2007, Computer methods in biomechanics and biomedical engineering.

[101]  Kazuhiro Kosuge,et al.  Micro active catheter system with multi degrees of freedom , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[102]  Russell H. Taylor,et al.  A telerobotic assistant for laparoscopic surgery , 1995 .

[103]  J.T. Wen,et al.  Robotic assistants aid surgeons during minimally invasive procedures , 2001, IEEE Engineering in Medicine and Biology Magazine.

[104]  Russell H. Taylor,et al.  A Perspective on Medical Robotics , 2006, Proceedings of the IEEE.

[105]  Mitchell J. H. Lum,et al.  Multidisciplinary Approach for Developing a New Minimally Invasive Surgical Robotic System , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..