Contents I. INTRODUCTION
Currently, a trend exists for an individualized treatment of different patients with patient-specific medical products to achieve the best outcome for every individual patient.
Abstract:
Currently, laparoscopic surgery systems are adapted for a large number of indications and patients and are therefore not optimized for one specific case. The challenge to...Show MoreMetadata
Abstract:
Currently, laparoscopic surgery systems are adapted for a large number of indications and patients and are therefore not optimized for one specific case. The challenge to create systems with an optimized kinematic structure for a specific patient regarding reachability and manipulability in the needed workspace is the automated design and construction process. We have developed an automated design and construction process for a patient-specific Single Incision Laparoscopic System that is optimized for a specific indication, procedure, patient, and surgeon. The kinematic structure is adapted to the required workspace, needed instrumentation, and manufacturing parameters. First results show that the patient-specific Single Incision Laparoscopic System is better suited for the specific application regarding the combination of reachability, manipulability, and system size in the required workspace than the standard Single Incision Laparoscopic System in different standard sizes or one simple standard size.
Date of Conference: 24 October 2020 - 24 January 2021
Date Added to IEEE Xplore: 10 February 2021
ISBN Information:
ISSN Information:
Funding Agency:
References is not available for this document.
Select All
1.
C.-Y. Liaw and M. Guvendiren, "Current and emerging applications of 3D printing in medicine", Biofabrication, vol. 9, no. 2, pp. 024102, 2017.
2.
J. Borchard, J. Kotlarski and T. Ortmaier, "Workspace comparison of cooperating instruments in laparo-endoscopic single-site surgery", 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1241-1248, July 2013.
3.
B. Cheon, E. Gezgin, D. K. Ji, M. Tomikawa, M. Hashizume, H.-J. Kim, et al., "A single port laparoscopic surgery robot with high force transmission and a large workspace", Surgical endoscopy, vol. 28, no. 9, pp. 2719-2729, 2014.
4.
L. G. Torres, R. J. Webster and R. Alterovitz, "Task-oriented design of concentric tube robots using mechanics-based models", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4449-4455, 2012.
5.
T. K. Morimoto, J. J. Cerrolaza, M. H. Hsieh, K. Cleary, A. M. Okamura and M. G. Linguraru, "Design of patient-specific concentric tube robots using path planning from 3-D ultrasound", 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 165-168, July 2017.
6.
T. Anor, J. R. Madsen and P. Dupont, "Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example", 2011 IEEE International Conference on Robotics and Automation, pp. 667-673, May 2011.
7.
C. Bedell, J. Lock, A. Gosline and P. E. Dupont, "Design optimization of concentric tube robots based on task and anatomical constraints", 2011 IEEE International Conference on Robotics and Automation, pp. 398-403, May 2011.
8.
C. Bergeles, A. H. Gosline, N. V. Vasilyev, P. J. Codd, P. J. Del Nido and P. E. Dupont, "Concentric tube robot design and optimization based on task and anatomical constraints", IEEE Transactions on Robotics, vol. 31, no. 1, pp. 67-84, 2015.
9.
J. Burgner, H. B. Gilbert and R. J. Webster, "On the computational design of concentric tube robots: Incorporating volume-based objectives", 2013 IEEE International Conference on Robotics and Automation, pp. 1193-1198, May 2013.
10.
C. Baykal, L. G. Torres and R. Alterovitz, "Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning", 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4381-4387, Sep. 2015.
11.
A. B. Prasai, A. Jaiprakash, A. K. Pandey, R. Crawford, J. Roberts and L. Wu, "Design and fabrication of a disposable micro end effector for concentric tube robots", 2016 14th International Conference on Control Automation Robotics and Vision (ICARCV), pp. 1-6, 2016.
12.
L. Wu, R. Crawford and J. Roberts, "Dexterity analysis of three 6-DOF continuum robots combining concentric tube mechanisms and cable-driven mechanisms", IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 514-521, 2017.
13.
A. Razjigaev, A. K. Pandey, J. Roberts and L. Wu, "Optimal dexterity for a snake-like surgical manipulator using patient-specific task-space constraints in a computational design algorithm", [online] Available: http://arxiv.org/pdf/1903.02217v1.
14.
Y. S. Krieger, D. B. Roppenecker, J.-U. Stolzenburg and T. C. Lueth, "First step towards an automated designed multi-arm snake-like robot for minimally invasive surgery", 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 407-412, June 2016.
15.
Y. S. Krieger, D. B. Roppenecker, I. Kuru and T. C. Lueth, "Multi-arm snake-like robot", 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 2490-2495, May 2017.
16.
S. V. Brecht, M. Stock, J.-U. Stolzenburg and T. C. Lueth, "3D printed single incision laparoscopic manipulator system adapted to the required forces in laparoscopic surgery", 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6296-6301, Nov 2019.
17.
J. J. Craig, Introduction to robotics: Mechanics and control, Upper Saddle River, N.J:Pearson/Prentice Hall, 2005.
18.
T. C. Lueth, "SG-Lib-Matlab-Toolbox", 2020, [online] Available: https://www.github.com/timlueth/SG-Lib-Matlab-Toolbox.
