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Sunday, July 26, 2020 | History

1 edition of Design of an articulated manipulator for enhanced dexterity in minimally invasive surgery found in the catalog.

Design of an articulated manipulator for enhanced dexterity in minimally invasive surgery

by Jerry DeWane Ray

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  • 35 Currently reading

Published by Naval Postgraduate School, Available from National Technical Information Service in Monterey, Calif, Springfield, Va .
Written in English


About the Edition

A current limitation in minimally invasive surgical (MIS) procedures is the lack of an articulated mechanism which will provide dexterity inside the torso while supporting a surgical tool. The tool could be a pair of scissors or an optical device such as a camera, or both. To overcome this limitation we have designed an Articulated Manipulator for Minimally Invasive Surgery (AMMIS). The AMMIS is expected to provide surgeons with improved dexterity during MIS procedures and be ideally suited for tele-surgery. This design may also be used in non-medical applications such as aviation maintenance, and engine inspection.

Edition Notes

StatementJerry DeWane Ray II
The Physical Object
Paginationvii, 53 p. ;
Number of Pages53
ID Numbers
Open LibraryOL25266411M

Abstract: The authors investigate dexterity measures of a manipulator based on its Jacobian matrix. The goal is to derive dexterity measures which can be used for both design and control of a manipulator. Generally, a dexterity measure must be independent of the scale of a manipulator for design, and must be expressed analytically so that it can be used for real-time control. Snap-On Robotic Wrist Module for Enhanced Dexterity in Endoscopic Surgery* Joshua Gafford, Student Member, IEEE, Tommaso Ranzani, Sheila Russo, Dr. Hiroyuki Aihara, Dr. Christopher means of treating early-stage gastric neoplasia in a minimally-invasive way. However, the remote locations of these lesions, in end-effector design has.

guidance tool for minimally-invasive surgery, yet offer the advantages of dexterity and image quality that could otherwise only be achieved with open surgical approaches. This paper reports the development of a high dexterity robotic laparoscopic ultrasound (RLUS) tool for the da Vinci and its integration into our open-source. Endoscopic procedures have transformed minimally invasive surgery as they allow the examination and intervention on a patient’s anatomy through natural orifices, without the need for external incisions. However, the complexity of anatomical pathways and the limited dexterity of existing instruments, limit such procedures mainly to diagnosis and biopsies. This paper proposes a new robotic.

R. Mukherjee, G. Song, R. Satava, "An Articulated Manipulator for Enhanced Dexterity in Minimally Invasive Surgery", Proceedings of IEEE Annual International Conference on Engineering in Medicine and Biology (Amsterdam, the Netherlands), Design and Evaluation of a Dexterous and Modular Hand-Held Surgical Robot for Minimally Invasive Surgery Yingkan Yang. A Minimally Invasive Surgical Tool With Enhanced Dexterity and Intuitive Control,” ASME J. Med. Devices., 4 (3), p. Author: Yingkan Yang, Kang Kong, Jianmin Li, Shuxin Wang, Jinhua Li.


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Design of an articulated manipulator for enhanced dexterity in minimally invasive surgery by Jerry DeWane Ray Download PDF EPUB FB2

To overcome this limitation we have designed an Articulated Manipulator for Minimally Invasive Surgery (AMMIS). The AMMIS is expected to provide surgeons with improved dexterity during MIS procedures and be ideally suited for tele-surgery.

This design may also be used in non-medical applications such as aviation maintenance, and engine inspectionPages: To overcome this limitation we have designed an Articulated Manipulator for Minimally Invasive Surgery (AMMIS). The AMMIS is expected to provide surgeons with improved dexterity during MIS procedures and be ideally suited for tele-surgery.

This design may also be used in non-medical applications such as aviation maintenance, and engine inspection. Enter the password to open this PDF file: Cancel OK. File name:. The tool could be a pair of scissors or an optical device such as a camera, or both.

To overcome this limitation we have designed an Articulated Manipulator for Minimally Invasive Surgery (AMMIS). The AMMIS is expected to provide surgeons with improved dexterity during MIS procedures and be ideally suited for : II Jerry DeWane Ray.

This paper describes design of the dexterous manipulator for laparoscopic surgery that performs like a human whole arm and the FEM simulation result to measure the force of its tool-tip for including force-feedback by: 1. Robot-assisted laparoscopic MIS (Minimally Invasive Surgery) has gained significant attentions due to its enhanced dexterity, improved precision, natural eye-hand coordination, etc.

Steerable catheters for minimally invasive surgery: a review and future directions. Computer Assisted Surgery: Vol. 23, No. 1, pp. This paper presents a new minimally invasive surgical (MIS) tool design paradigm that enables enhanced dexterity, intuitive control, and natural force feedback in a low-cost compact package.

The paradigm is based on creating a tool frame that is attached to the surgeon's forearm, making the tool shaft an extension of the latter.

Two additional wristlike rotational degrees of freedom (DoF. Task Speci c Evaluation of Kinematic Designs for Instruments in Minimally Invasive Robotic Surgery Bastian Deutschmann [email protected] In minimally invasive robotic surgery (MIRS), a surgeon on an input console (master) telemanipulates a robotic system (slave) at the patient by: 2.

Start studying Chapter 6: Biomedical Science and Minimally Invasive Surgery. Learn vocabulary, terms, and more with flashcards, games, and other study tools. PDF | On Jul 1,Xu Chen and others published Design and analysis of a haptic master manipulator for minimally invasive surgery | Find, read and.

The design objective of the articulated manipulator for minimally invasive surgery (AMMIS) is to achieve dexterity with the minimum number of actuators. The use of fewer actuators enables the miniaturization of the articulated structure and provides additional space for the accommodation of peripheral devices that add functionalities to the by: This paper presents the prototype design of the robotic surgical instrument for minimally invasive surgery robot.

For high reliability and stiffness characteristics of the instrument, it has been designed on the basis of 3-DOF (degrees of freedom) parallel robot mechanism with three identical PSR (Prismatic-Spherical-Revolute)- serial by: 3.

This paper introduces a novel, bioinspired manipulator for minimally invasive surgery (MIS). The manipulator is entirely composed of soft materials, and it has been designed to provide similar motion capabilities as the octopus's arm in order to reach the surgical target while exploiting its whole length to actively interact with the biological by: Abstract.

The da Vinci Surgical System is a platform for robot-assisted minimally invasive surgery. This chapter provides an overview of the design of the da Vinci System, as well as several of its key subsystems for vision, tissue manipulation, anatomical access, and operator technology training.

Presented here is the design of a mechanism for dexterous placement of an end-effector during minimally invasive surgery. A literature review is presented to show that capabilities of the mechanism are unavailable in current by: This paper describes the design and the performance results of a dexterous manipulator for minimally invasive surgery (MIS) that performs like a human arm.

The design of the loadcell to measure the force of its tool-tip and its method are also presented for including a force-feedback loop in the future. Because a human whole arm has 7 degrees of freedom (DoF), we have also designed 7 DoF.

laparoscopic surgery ensures enhanced dexterity, more degrees of freedom for tool movement, better visual feedback to the surgeon (by using cameras and visual displays) and ultimately positive increases in all of the advantages provided by MIS.

Minimally invasive robotic surgery (MIRS) has the. An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection.

A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard Cited by:   A Dexterous Manipulator for Minimally Invasive Surgery. IEEE International Conference on Robotics and Automation Mitsuishi M, Watanabe H, Nakanishi H, Kubota H, IIZUKA Y.

Dexterity Enhancement for a Tele-micro-surgery System with Multiple Macro-micro Co-located Operation Point Manipulators and Understanding of the Operator’s by:. 1. Introduction. Surgical robots with flexible manipulators (FMs) have the potential to revolutionize minimally invasive robotic surgery (MIRS) [].Their advantages over traditional rigidarm surgical robots, represented by the da Vinci surgical robot system, include: safer surgical intervention; the ability to explore a much wider range inside the body; and the ability to manipulate inside the Cited by: Abstract— This paper presents a design overview of a novel high DoF (Degrees-of-Freedom) system being developed for minimally invasive surgery of the throat.

The system is designed to allow remote operation of tools with high tip dexterity to enable suturing and soft-tissue manipulation while using the patient’s mouth as the only entry.The power to control limbs, muscles, and body extremely well.

Sub-power of Enhanced Condition. The user can precisely control their movements and muscles, making them unable to be clumsy or fumbling. They can slip through a network of lasers, reach through dangerous narrow tunnels, keep perfect balance, or juggle effortlessly without ever tripping or wobbling.

The user can even move their.