Optimization of a novel mechanism for a minimally invasive surgery robot

Minimally invasive surgery (MIS) has many advantages compared with open surgery, but there are still many drawbacks in performing MIS. Using robotic technologies, many problems caused by human restrictions, such as fatigue and low precision, can be solved. In this paper, a novel mechanism for a MIS robot is proposed.

[1]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[2]  Clément Gosselin,et al.  Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations , 2004 .

[3]  Rajnikant V. Patel,et al.  Optimal Remote Center-of-Motion Location for Robotics-Assisted Minimally-Invasive Surgery , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[4]  Mircea Badescu,et al.  Workspace optimization of 3-UPU parallel platforms with joint constraints , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

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

[6]  Stephen L. Chiu,et al.  Kinematic characterization of manipulators: an approach to defining optimality , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[7]  Tatsuo Arai,et al.  Mechanism configuration evaluation of a linear-actuated parallel mechanism using manipulability , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[8]  K. Ikuta,et al.  Hyper Finger for Remote Minimally Invasive Surgery in Deep Area : Demonstration of dual-arm operation by a couple of Hyper Fingers , 2003 .

[9]  Yulun Wang,et al.  The Developing Market for Medical Robotics , 2006, Proceedings of the IEEE.

[10]  G. Maddern,et al.  Evolution in technique of laparoscopic pancreaticoduodenectomy: a decade long experience from a tertiary center , 2009, Journal of hepato-biliary-pancreatic sciences.

[11]  Yulun Wang,et al.  Robotic surgery - the transatlantic case , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[12]  Clément Gosselin,et al.  Analytical approach for optimal design of a type of spherical parallel manipulator using dexterous performance indices , 2003 .

[13]  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).

[14]  Charles A. Klein,et al.  Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators , 1987 .

[15]  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).

[16]  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).

[17]  Philip A. Voglewede,et al.  Measuring "closeness" to singularities for parallel manipulators , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[18]  Clément Gosselin,et al.  A Global Performance Index for the Kinematic Optimization of Robotic Manipulators , 1991 .

[19]  Meng Li,et al.  Conceptual Design and Dimensional Synthesis of a Reconfigurable Hybrid Robot , 2005 .

[20]  Pradeep K. Khosla,et al.  Dexterity measures for design and control of manipulators , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[21]  Z. Nawrat,et al.  Polish cardio‐robot ‘Robin Heart’. System description and technical evaluation , 2006, The international journal of medical robotics + computer assisted surgery : MRCAS.

[22]  Keith S. Naunheim,et al.  The Current Status of Thoracoscopic Surgery , 1996, Seminars in laparoscopic surgery.

[23]  L W Sun,et al.  Advanced da Vinci surgical system simulator for surgeon training and operation planning , 2007, The international journal of medical robotics + computer assisted surgery : MRCAS.

[24]  Dong-Soo Kwon,et al.  Compact camera assistant robot for minimally invasive surgery: KaLAR , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[25]  Manja V. Kircanski.  Robotic isotropy and optimal robot design of planar manipulators , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[26]  A. L. Trejos,et al.  Optimizing port placement for robot‐assisted minimally invasive cardiac surgery , 2007, The international journal of medical robotics + computer assisted surgery : MRCAS.

[27]  Blake Hannaford,et al.  Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches , 2006, IEEE Transactions on Biomedical Engineering.

[28]  Blake Hannaford,et al.  Generalized approach for modeling minimally invasive surgery as a stochastic process using a discrete Markov model , 2006, IEEE Transactions on Biomedical Engineering.