Abstract
Minimally invasive procedures require dexterous manipulation of flexible surgical instruments in complex and confined areas inside the patient’s body. Flexible surgical instruments usually consist of an insertion device and an end effector that holds the tool that finally operates on tissue. These flexible surgical instruments need to be sufficiently rigid to avoid buckling during insertion and retraction into and from the patient’s body. On the other hand, when the instrument has reached its desired location inside the patient’s body, a less rigid connection between the end effector and the insertion device (i.e., a decoupling) can be beneficial for avoiding transferring disturbances such as vibrations to the end effector performing surgery on the patient tissue. To adjust the force transmission between an end effector and its insertion device as desired, we implemented mechanisms to vary the stiffness of the connection between an end effector and its insertion device by adjusting the length of the flexible supply channel in between. In this paper, we investigated disturbance propagation from the insertion device to the end effector as the length of a flexible connection between the end effector and the insertion device (supply channel) was varied. Our experiment results showed that the propagation of disturbances can be reduced by increasing the length of this flexible supply channel.
Supported by Werner Siemens Foundation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Eugster, M.: Robotic system for accurate minimally invasive laser osteotomy. at-Automatisierungstechnik 70(7), 676–678 (2022). https://doi.org/10.1515/auto-2022-0073
Jiang, A., Xynogalas, G., Dasgupta, P., Althoefer, K., Nanayakkara, T.: Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2922–2927. IEEE (2012). https://doi.org/10.1109/IROS.2012.6385696
Karnam, M., Cattin, P., Rauter, G., Gerig, N.: Comparing cascaded real-time controllers for an extended KUKA LBR iiwa robot during physical human-robot interaction. In: Siebte IFToMM D-A-CH Konferenz. Technische Universität Ilmenau (2021). https://doi.org/10.17185/duepublico/74060
Loeve, A., Breedveld, P., Dankelman, J.: Scopes too flexible...and too stiff. IEEE Pulse 1(3), 26–41 (2010). https://doi.org/10.1109/MPUL.2010.939176
Picard, F., Deakin, A., Balasubramanian, N., Gregori, A.: Minimally invasive total knee replacement: techniques and results. Eur. J. Orthop. Surg. Traumatol. 28(5), 781–791 (2018). https://doi.org/10.1007/s00590-018-2164-4
Tomooka, Y., Rauter, G., Gerig, N., Takeda, R., Cattin, P., Eugster, M.: Bending stiffness variability between a deployable robotic laser osteotome and its insertion device. Curr. Dir. Biomed. Eng. 8(1), 138–141 (2022). https://doi.org/10.1515/cdbme-2022-0035
Yagi, A., Matsumiya, K., Masamune, K., Liao, H., Dohi, T.: Rigid-flexible outer sheath model using slider linkage locking mechanism and air pressure for endoscopic surgery. In: Larsen, R., Nielsen, M., Sporring, J. (eds.) MICCAI 2006. LNCS, vol. 4190, pp. 503–510. Springer, Heidelberg (2006). https://doi.org/10.1007/11866565_62
Acknowledgements
The authors gratefully acknowledge funding of the Werner Siemens Foundation through the MIRACLE project. The authors thank Prof. Dr. Jamie Paik, Mustafa Mete, Dr. Tatiana Maillard, and Fabio Zuliani at the Reconfigurable Robotics Lab at the EPFL for their support in developing the silicone-based attachment mechanism.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Tomooka, Y., Karnam, M., Eugster, M., Cattin, P.C., Rauter, G. (2023). Disturbance Propagation Mitigation Between a Deployable Miniature Surgical Robot and Its Insertion Device. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https://doi.org/10.1007/978-3-031-45770-8_79
Download citation
DOI: https://doi.org/10.1007/978-3-031-45770-8_79
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-45769-2
Online ISBN: 978-3-031-45770-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)