Skip to main content
SpringerLink
Log in

Design Evaluation of a Stabilized, Walking Endoscope Tip

  • Conference paper
  • First Online:
New Trends in Medical and Service Robotics (MESROB 2020)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 93))

Included in the following conference series:

Abstract

A rigid attachment of a surgical tool to the target tissue can improve the tool manipulation accuracy in minimally invasive robotic surgery. The main challenges in developing an attachment concept for stabilizing a surgical tool are not to restrict the task-relevant workspace of the device and not to increase the invasiveness of the procedure by either the attachment concept itself or additional incisions needed to reposition the surgical tool. We developed an upscaled prototype of a parallel mechanism for minimally invasive surgery integrated into an endoscope tip that can attach to the target tissue with its two legs. An actuated leg design that can fold, unfold, and attach to the target surface was designed, manufactured, and evaluated. We demonstrate that by the actuated leg design, the parallel robot can reposition its two legs independently and can “walk” along the target surface.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 219.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 279.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 279.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Costanza, A.D., Wood, N.A., Passineau, M.J., Moraca, R.J., Bailey, S.H., Yoshizumi, T., Riviere, C.N.: A parallel wire robot for epicardial interventions. In: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 6155–6158. IEEE (2014). https://doi.org/10.1109/EMBC.2014.6945034

  2. Eugster, M., Weber, P., Cattin, P., Zam, A., Kosa, G., Rauter, G.: Positioning and stabilization of a minimally invasive laser osteotome. In: Hamlyn Symposium on Medical Robotics, vol. 10, pp. 21–22 (2017)

    Google Scholar 

  3. Eugster, M., Cattin, P.C., Zam, A., Rauter, G.: A parallel robotic mechanism for the stabilization and guidance of an endoscope tip in laser osteotomy. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1306–1311. IEEE (2018). https://doi.org/10.1109/IROS.2018.8594188

  4. Kratchman, L.B., Blachon, G.S., Withrow, T.J., Balachandran, R., Labadie, R.F., Webster, R.J.: Design of a bone-attached parallel robot for percutaneous cochlear implantation. IEEE Trans. Biomed. Eng. 58(10), 2904–2910 (2011). https://doi.org/10.1109/TBME.2011.2162512

    Article  Google Scholar 

  5. Plaskos, C., Cinquin, P., Lavallée, S., Hodgson, A.: Praxiteles: a miniature bone-mounted robot for minimal access total knee arthroplasty. Int. J. Med. Robot. Comput. Assist. Surg. 1(4), 67–79 (2005). https://doi.org/10.1002/rcs.59

    Article  Google Scholar 

  6. Ranzani, T., Russo, S., Schwab, F., Walsh, C.J., Wood, R.J.: Deployable stabilization mechanisms for endoscopic procedures. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 1125–1131. IEEE (2017). https://doi.org/10.1109/ICRA.2017.7989134

  7. Shoham, M., Burman, M., Zehavi, E., Joskowicz, L., Batkilin, E., Kunicher, Y.: Bone-mounted miniature robot for surgical procedures: concept and clinical applications. IEEE Trans. Robot. Autom. 19(5), 893–901 (2003). https://doi.org/10.1109/TRA.2003.817075

    Article  Google Scholar 

  8. Stilli, A., Dimitrakakis, E., Tran, M., Stoyanov, D.: Track-guided ultrasound scanning for tumour margins outlining in robot-assisted partial nephrectomy. In: Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018), vol. 8. CRAS (2018)

    Google Scholar 

  9. Thanh-Vinh, N., Takahashi, H., Kan, T., Noda, K., Matsumoto, K., Shimoyama, I.: Micro suction cup array for wet/dry adhesion. In: 2011 IEEE 24th International Conference on Micro Electro Mechanical Systems, pp. 284–287. IEEE (2011). https://doi.org/10.1109/MEMSYS.2011.5734417

  10. Zhakypov, Z., Heremans, F., Billard, A., Paik, J.: An origami-inspired reconfigurable suction gripper for picking objects with variable shape and size. IEEE Robot. Autom. Lett. 3(4), 2894–2901 (2018). https://doi.org/10.1109/LRA.2018.2847403

    Article  Google Scholar 

Download references

Acknowledgements

We gratefully acknowledge funding of the Werner Siemens Foundation through the MIRACLE project and we thank Prof. Dr. med. Niklaus F. Friederich for his continuous support with respect to medical questions.

Author information

Authors and Affiliations

  1. BIROMED-Lab, Department of Biomedical Engineering, University of Basel, 4123, Allschwil, Switzerland

    Manuela Eugster, Melanie Oliveira Barros & Georg Rauter

  2. CIAN, Department of Biomedical Engineering, University of Basel, 4123, Allschwil, Switzerland

    Philippe C. Cattin

Authors
  1. Manuela Eugster
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Melanie Oliveira Barros
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Philippe C. Cattin
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Georg Rauter
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Manuela Eugster .

Editor information

Editors and Affiliations

  1. Bio-Inspired RObots for MEDicine-Lab (BIROMED-Lab), Department of Biomedical Engineering, University of Basel, Allschwil, Switzerland

    Georg Rauter

  2. Center for medical Image Analysis & Navigation (CIAN), Department of Biomedical Engineering, University of Basel, Allschwil, Switzerland

    Philippe C. Cattin

  3. Biomedical Laser and Optics Group (BLOG), Department of Biomedical Engineering, University of Basel, Allschwil, Switzerland

    Azhar Zam

  4. Sensory-Motor Systems Lab, ETH Zurich, Zürich, Switzerland

    Robert Riener

  5. University of Calabria, Arcavacata di Rende, Italy

    Giuseppe Carbone

  6. Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

Rights and permissions

Reprints and permissions

Copyright information

© 2021 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Eugster, M., Oliveira Barros, M., Cattin, P.C., Rauter, G. (2021). Design Evaluation of a Stabilized, Walking Endoscope Tip. In: Rauter, G., Cattin, P.C., Zam, A., Riener, R., Carbone, G., Pisla, D. (eds) New Trends in Medical and Service Robotics. MESROB 2020. Mechanisms and Machine Science, vol 93. Springer, Cham. https://doi.org/10.1007/978-3-030-58104-6_15

Download citation

Publish with us

Policies and ethics

Search

Navigation