Robotic Forceps Manipulator With a Novel Bending Mechanism

This paper proposes a new bending technique with a screwdrive mechanism that allows for omnidirectional bending motion by rotating two linkages, each consisting of a right-handed screw, a universal joint, and a left-handed screw. The new screwdrive mechanism, termed double-screw-drive (DSD) mechanism, is utilized in a robotic forceps manipulator for laparoscopic surgery. A robotic forceps manipulator incorporating the DSD mechanism (DSD forceps) can bend without using wires. Without wires, it has high rigidity, and can bend at 90° in any arbitrary direction. In addition, the gripper of the DSD forceps can perform rotational motion, which is achieved by rotating a third linkage in the DSD mechanism. Opening and closing motions of the gripper are attained by wire actuation. Fundamental experiments examining the bending force and the accuracy of the DSD forceps were conducted, and an analysis of the accuracy was performed. Control of the DSD forceps through a teleoperation system was achieved via a joystick-type manipulator. A servo system was constructed for each linkage and the wire actuation mechanism, and tracking control experiments as well as a suturing experiment were conducted. The results of the experiments showed that the required design specifications were fulfilled. Thus, the validity of the DSD forceps was demonstrated.

[1]  S. Shankar Sastry,et al.  A laparoscopic telesurgical workstation , 1999, IEEE Trans. Robotics Autom..

[2]  Mamoru Mitsuishi,et al.  Development of a dexterous minimally-invasive surgical system with augmented force feedback capability , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  G.R. Sutherland,et al.  Human–Machine Interface for Robotic Surgery and Stereotaxy , 2008, IEEE/ASME Transactions on Mechatronics.

[4]  Russell H. Taylor,et al.  A Steady-Hand Robotic System for Microsurgical Augmentation , 1999 .

[5]  Makoto Hashizume,et al.  Multi-DOF Forceps Manipulator System for Laparoscopic Surgery - Mechanism Miniaturized & Evaluation of New Interface , 2001, MICCAI.

[6]  Frank Tendick,et al.  Human-machine interfaces for minimally invasive surgery , 1997, Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. 'Magnificent Milestones and Emerging Opportunities in Medical Engineering' (Cat. No.97CH36136).

[7]  A. Ozcan,et al.  The Interconnection of MRI Scanner and MR-Compatible Robotic Device: Synergistic Graphical User Interface to Form a Mechatronic System , 2008, IEEE/ASME Transactions on Mechatronics.

[8]  G.S. Fischer,et al.  MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement , 2008, IEEE/ASME Transactions on Mechatronics.

[9]  Chiharu Ishii,et al.  Development of a New Bending Mechanism and Its Application to Robotic Forceps Manipulator , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[10]  N. Zemiti,et al.  Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery , 2007, IEEE/ASME Transactions on Mechatronics.

[11]  Keiji Sasaki,et al.  Development of remote microsurgery robot and new surgical procedure for deep and narrow space , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[12]  Maria Chiara Carrozza,et al.  A novel mechatronic tool for computer-assisted arthroscopy , 2000, IEEE Transactions on Information Technology in Biomedicine.

[13]  Kai Xu,et al.  An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots , 2008, IEEE Transactions on Robotics.

[14]  Guillaume Morel,et al.  Optimal design of high dexterity modular MIS instrument for coronary artery bypass grafting , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[15]  William J. Peine,et al.  Design of an endoluminal NOTES robotic system , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Koji Ikuta,et al.  Hyper redundant miniature manipulator "Hyper Finger" for remote minimally invasive surgery in deep area , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[17]  H. Das,et al.  Dexterity-enhanced telerobotic microsurgery , 1997, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.

[18]  G.W. Dachs,et al.  A Novel Surgical Robot Design: Minimizing the Operating Envelope Within the Sterile Field , 2006, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society.

[19]  Mamoru MITSUISHI,et al.  Development of a remote minimally-invasive surgical system with operational environment transmission capability , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[20]  Bernhard Kübler,et al.  Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[21]  C. Ishii,et al.  Passivity based bilateral control with motion scaling for robotic forceps teleoperation system with time delay , 2008, 2008 International Conference on Control, Automation and Systems.

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

[23]  Paolo Dario,et al.  Lightweight Hand-held Robot for Laparoscopic Surgery , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

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

[25]  Russell H. Taylor,et al.  Medical robotics in computer-integrated surgery , 2003, IEEE Trans. Robotics Autom..

[26]  Dominiek Reynaerts,et al.  Design of an advanced tool guiding system for robotic surgery , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[27]  Hiromasa Yamashita,et al.  DEVELOPMENT OF ENDOSCOPIC FORCEPS MANIPULATOR USING MULTI-SLIDER LINKAGE MECHANISMS , 2005 .

[28]  T. Ortmaier,et al.  The touch and feel in minimally invasive surgery , 2005, IEEE International Workshop on Haptic Audio Visual Environments and their Applications.

[29]  Nabil Simaan,et al.  A Dexterous System for Laryngeal Surgery Multi-Backbone Bending Snake-like Slaves for Teleoperated Dexterous Surgical Tool Manipulation , 2004 .

[30]  Yuki Kobayashi,et al.  Small Occupancy Robotic Mechanisms for Endoscopic Surgery , 2002, MICCAI.

[31]  Mahdi Tavakoli,et al.  A force reflective master-slave system for minimally invasive surgery , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[32]  Alois Knoll,et al.  The Endo[PA]R system for minimally invasive robotic surgery , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[33]  John Kenneth Salisbury,et al.  The Intuitive/sup TM/ telesurgery system: overview and application , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).