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Guo Y, Pan B, Fu Y, Meng MQH. A Novel Grip Force Cognition Scheme for Robot-Assisted Minimally Invasive Surgery. IEEE Trans Cogn Dev Syst 2021. [DOI: 10.1109/tcds.2020.2981876] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Chandrasekaran K, Parameswaran S, Annamraju S, Chandra S, Manickam R, Thondiyath A. A Practical Approach to the Design and Development of Tele-Operated Surgical Robots for Resource Constrained Environments—A Case Study. J Med Device 2021. [DOI: 10.1115/1.4049393] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
Abstract
Tele-operation has brought about a paradigm shift in the way minimally invasive surgeries are carried out. Several tele-operated robotic systems have been developed in the last three decades. In this research work, we present a practical approach for the complete design of a six degree-of-freedom (DoF) master–slave tele-operated robotic system with limited resources. This research work elaborates on the methodology followed by us for the complete system design, methods for simplifying the surgical tool design with decoupled DoF wrist utilizing stationary wire guides instead of pulleys, and method of reducing the number of balancing masses required for gravity compensation of master manipulator arms. We also demonstrate the avenues for utilizing compliant mechanism for several mechanisms of the system to reduce complexity and to mitigate the issue of biofouling. The concepts and design methodology described in this paper would serve as a starting point and design guideline for future designers of such systems in resource-constrained environments.
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Affiliation(s)
- Karthik Chandrasekaran
- Department of Engineering Design, Indian Institute of Technology Madras, Chennai, Tamil Nadu 600036, India
| | - Suraj Parameswaran
- Department of Engineering Design, Indian Institute of Technology Madras, Chennai, Tamil Nadu 600036, India
| | - Srikar Annamraju
- Department of Engineering Design, Indian Institute of Technology Madras, Chennai, Tamil Nadu 600036, India
| | - Sourav Chandra
- Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL 60611
| | - Ramalingam Manickam
- Department of Urology, PSG Institute of Medical Sciences and Research, Coimbatore, Tamil Nadu 641004, India
| | - Asokan Thondiyath
- Department of Engineering Design, Indian Institute of Technology Madras, Chennai, Tamil Nadu 600036, India
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Chandrasekaran K, Thondiyath A. Design of a tether‐driven minimally invasive robotic surgical tool with decoupled degree‐of‐freedom wrist. Int J Med Robot 2020; 16:e2084. [DOI: 10.1002/rcs.2084] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/23/2019] [Revised: 01/17/2020] [Accepted: 01/20/2020] [Indexed: 01/31/2023]
Affiliation(s)
| | - Asokan Thondiyath
- Department of Engineering DesignIndian Institute of Technology Madras Chennai India
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