Electrification of a Retractor Consisting of Flexible Structure and Development of Six-D.o.F Surgical Assist Arm with Unactuated Joints

Volume 4, Issue 1, February 2023     |     PP. 1-20      |     PDF (2089 K)    |     Pub. Date: January 1, 2023
DOI: 10.54647/mechanical46094    101 Downloads     85752 Views  

Author(s)

Toshihiro Yukawa, Dept. of Mech. Eng., Faculty of Eng., Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Kazushi Nakamura, Dept. of Mech. Eng., Faculty of Eng., Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Hiroki Satoh, Dept. of Mech. Eng., Faculty of Eng., Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Youichi Takeda, Division of Technical Support, Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Yoshiaki Oshida, Division of Technical Support, Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Jun Sasaki, Iwate Medical University, 1-1-1 Idaidori, Yahaba-cho, Shiwa-gun, Iwate Prefecture 028-3694, Japan

Abstract
In this paper, we describe a new type of a flexible retractor (universal fixator) and an assist arm with surgical instrument developed as substitutes for an abdominal retractor for use during surgery. The new assist arm as the retractor with surgical instrument can increase the efficiency of retraction function during surgery. As for the conventional flexible retractor, the amount of rotation of the knob required for fixing and loosening was large, and it took time to operate. To overcome this problem, we install a motor to the retractor and perform a torque control. On the other hand, our developed assistance mechanism has a six-D.o.F as high controllability at the tip of the mechanism. Also, the whole mechanism of the assist arm consists of a serial three-link with three joints whose each joint is composed of a differential gear mechanism. The assist arm is able to maintain situation of the relevant body part of a person on the operating table while maintaining own posture.

Keywords
retractor, flexible retractor, assist arm, surgical arm, fixation device, six-D.o.F manipulator, motor, differential gear mechanism, friction brake, brake pad, manipulability

Cite this paper
Toshihiro Yukawa, Kazushi Nakamura, Hiroki Satoh, Youichi Takeda, Yoshiaki Oshida, Jun Sasaki, Electrification of a Retractor Consisting of Flexible Structure and Development of Six-D.o.F Surgical Assist Arm with Unactuated Joints , SCIREA Journal of Mechanical Engineering. Volume 4, Issue 1, February 2023 | PP. 1-20. 10.54647/mechanical46094

References

[ 1 ] Li, Z., Glozman, D., Milutinovic, D. and Rosen, J., Maximizing Dexterous Workspace and Optimal Port Placement of a Multi-Arm Surgical Robot, 2011 IEEE Int. Conf. on Robotics and Automation, 3394-3399, May. 9-13, 2011.
[ 2 ] Wei, W., Goldman, R. E., Fine, H. F., Chang, S. and Simaan, N., Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs, IEEE Trans., Robotics, Vol. 25, No. 1, 147-157, Feb., 2009.
[ 3 ] Kishi, K., Kan, K., Fujie, M. G., Sudo, K., Takamoto, S. and Dohi, T., Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility, J. of Robotics and Mechatronics (JRM), Vol.17, No.3, 285-292, 2005.
[ 4 ] Sugiyama, K., Matsuno, T., Kamegawa, T., Hiraki, T., Nakaya, H., Nakamura, M., Yanou, A. and Minami, M., Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control, J. of Robotics and Mechatronics (JRM), Vol. 28, No. 6, 911-920, 2016.
[ 5 ] Long, Z., Nagamune, K., Kuroda, R. and Kurosaka, M., Real-Time 3D Visualization and Navigation Using Fiber-Based Endoscopic System for Arthroscopic Surgery, JACIII Vol.20, No. 5, 735-742, 2016.
[ 6 ] Takikawa, K., Miyazaki, R., Kanno, T., Endo, G. and Kawashima, K., Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies, J. of Robotics and Mechatronics (JRM), Vol. 28, No. 4, 559-567, 2016.
[ 7 ] Fujihira, Y., Hanyu, T., Kanada, Y., Yoneyama, T., Watanabe, T. and Kagawa, H., Gripping Force Feedback System for Neurosurgery, Int. J. of Automation Technology (IJAT), Vol. 8, No. 1, 83-94, 2014.
[ 8 ] DEX, Agile Robot, http://www.dexteritesurgical.com.
[ 9 ] Donnici, M., Lupinacci, G., Nudo, P., Perrelli, M. and Danieli, G., Using Navi-Robot and a CT Scanner to Guide Biopsy Needles, Int. J. of Automation Technology (IJAT), Vol. 11, No.3, 450-458, 2017.
[ 10 ] Chien, H. M., Novel Laparoscopic Needle Holder, MATEC Web of Conferences, 2016 8th Int. Conf. on Computer and Automation Engineering (ICCAE 2016), Vol. 56, 08002, 2016.
[ 11 ] Mitaka Kohki Co., Ltd., Medical Equipment/instrument, http://www.mitakakohki.co.jp/english/medical/ .
[ 12 ] Ranzani, T., Cianchetti, M., Gerboni, G., Falco, I. D. and Menciassi, A., A Soft Modular Manipulator for Minimally Invasive Surgery: Design and Characterization of a Single Module, IEEE Trans. on Robotics, Vol. 32, Issue 1, 187 - 200, Feb., 2016.
[ 13 ] Leong, F., Garbin, N., Natali, C. D., Mohammadi, A., Thiruchelvam, D., Oetomo, D. and Valdastri, P., Magnetic Surgical Instruments for Robotic Abdominal Surgery, IEEE Reviews in Biomedical Engineering, 9:1-1, Feb. 2016.
[ 14 ] Watanabe, T., Koyama, T., Yoneyama, T. and Nakada, M., A Force-Visualized Silicone Retractor Attachable to Surgical Suction Pipes, Journals Sensors, Vol. 17, Issue 4, 17(4), 773, 2017.
[ 15 ] Razjigaev, A., Pandey, A. K., Howard, D., Roberts, J. and Wu, L., SnakeRaven: Teleoperation of a 3D Printed Snake-like Manipulator Integrated to the RAVEN II Surgical Robot, Project: Continuum Robots for Minimally Invasive Surgery, https://www.researchgate.net/publication/353915273, Sept. 2021.
[ 16 ] Kim, K. Y., Song, H. S, Suh J. W. and Lee, J. J., A Novel Surgical Manipulator with Workspace-Conversion Ability for Telesurgery, IEEE/ASME Trans. on Mech., Vol. 18, No. 1, 200-211, 2013.
[ 17 ] Natali, C. D., Mohammadi, A., Oetomo, D., Valdastri, P., Surgical Robotic Manipulator Based on Local Magnetic Actuation, ASME, J. Medical Devices, Vol. 9, 030936-1, Sept. 2015.