Articulating minimally invasive ultrasonic tool for robotics-assisted surgery

In this paper, a robotics-assisted articulating ultrasonic surgical scalpel for minimally invasive soft tissue cutting and coagulation is designed and developed. For this purpose, the optimal design of a Langevin transducer with stepped horn profile is presented for internal-body applications. The modeling, optimization and design of the ultrasonic scalpel are performed through equivalent circuit theory and verified by finite element analysis. Moreover, a novel two degrees-of-freedom (DOFs) surgical end effector (1-DOF pitch, 1-DOF grip) with decoupled motions is developed that is compatible with the da Vinci® surgical system. The developed instrument is then driven using the dVRK (da Vinci® research kit) and the Classic da Vinci® surgical system.

[1]  Hassan Al-Budairi,et al.  Design and analysis of ultrasonic horns operating in longitudinal and torsional vibration , 2012 .

[2]  Minoru Hashimoto,et al.  Development of ultrasonically activated bending scalpel using a link mechanism , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  R. Holland,et al.  Representation of Dielectric, Elastic, and Piezoelectric Losses by Complex Coefficients , 1967, IEEE Transactions on Sonics and Ultrasonics.

[4]  T Hemsel,et al.  Piezoelectric transducer design via multiobjective optimization. , 2006, Ultrasonics.

[5]  H. Iseki,et al.  Development of an articulating ultrasonically activated device for laparoscopic surgery , 2008, Surgical Endoscopy.

[6]  Kalyanmoy Deb,et al.  Multi-objective optimization using evolutionary algorithms , 2001, Wiley-Interscience series in systems and optimization.

[7]  Minoru Hashimoto,et al.  Development of ultrasonically activated bending scalpel for endoscopic surgery , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Jan Ma,et al.  Development of a miniaturized piezoelectric ultrasonic transducer , 2009, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control.

[9]  Peter Kazanzides,et al.  An open-source research kit for the da Vinci® Surgical System , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[10]  F. Dunn,et al.  0. Introduction: Physical Description of Ultrasonic Fields , 1981 .

[11]  Y. Bar-Cohen,et al.  Modeling of horns for sonic/ultrasonic applications , 1999, 1999 IEEE Ultrasonics Symposium. Proceedings. International Symposium (Cat. No.99CH37027).

[12]  Lining Sun,et al.  Design, modeling and control of a piezoelectric ultrasonic microdissection technique for the molecular analysis of tissue , 2010 .

[13]  Garrett B. McGuinness,et al.  High-power low-frequency ultrasound: A review of tissue dissection and ablation in medicine and surgery , 2008 .

[14]  Toshio Fukuda,et al.  Characterization of oscillating nano knife for single cell cutting by nanorobotic manipulation system inside ESEM , 2011, 2011 IEEE International Conference on Robotics and Automation.

[15]  W. P. Mason.  Electromechanical transducers and wave filters , 1942 .