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Full-Text Articles in Mechanical Engineering
Usability Assessment Of Two Different Control Modes For The Master Console Of A Laparoscopic Surgical Robot, Xiaoli Zhang, Carl A. Nelson, Dmitry Oleynikov
Usability Assessment Of Two Different Control Modes For The Master Console Of A Laparoscopic Surgical Robot, Xiaoli Zhang, Carl A. Nelson, Dmitry Oleynikov
Department of Mechanical and Materials Engineering: Faculty Publications
The objective of this study is to evaluate potential interface control modes for a compact fourdegree- of-freedom (4-DOF) surgical robot. The goal is to improve robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1) a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation), and (2) an unconstrained Cartesian input interface mapping more directly to the surgical tool tip motions. Subjects (n = 5) successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with …
Tool Sequence Trends In Minimally Invasive Surgery: Statistical Analysis And Implications For Predictive Control Of Multifunction Instruments, Carl A. Nelson, Evan Luxon, Dmitry Oleynikov
Tool Sequence Trends In Minimally Invasive Surgery: Statistical Analysis And Implications For Predictive Control Of Multifunction Instruments, Carl A. Nelson, Evan Luxon, Dmitry Oleynikov
Department of Mechanical and Materials Engineering: Faculty Publications
This paper presents an analysis of 67 minimally invasive surgical procedures covering 11 different procedure types to determine patterns of tool use. A new graph-theoretic approach was taken to organize and analyze the data. Through grouping surgeries by type, trends of common tool changes were identified. Using the concept of signal/noise ratio, these trends were found to be statistically strong. The tool-use trends were used to generate tool placement patterns for modular (multi-tool, cartridge-type) surgical tool systems, and the same 67 surgeries were numerically simulated to determine the optimality of these tool arrangements. The results indicate that aggregated tool-use data …
In Vivo Demonstration Of Surgical Task Assistance Using Miniature Robots, Jeff A. Hawks, Jacob Kunowski, Stephen R. Platt
In Vivo Demonstration Of Surgical Task Assistance Using Miniature Robots, Jeff A. Hawks, Jacob Kunowski, Stephen R. Platt
Department of Mechanical and Materials Engineering: Faculty Publications
Laparoscopy is beneficial to patients as measured by less painful recovery and an earlier return to functional health compared to conventional open surgery.However, laparoscopy requires the manipulation of long, slender tools from outside the patient’s body. As a result, laparoscopy generally benefits only patients undergoing relatively simple procedures. An innovative approach to laparoscopy uses miniature in vivo robots that fit entirely inside the abdominal cavity. Our previous work demonstrated that a mobile, wireless robot platform can be successfully operated inside the abdominal cavity with different payloads (biopsy, camera, and physiological sensors). We hope that these robots are a step toward …