Bending stiffness variability between a deployable robotic laser osteotome and its insertion device
Varying device stiffness on purpose can provide safety and performance improvements in interventions involving flexible minimal-invasive surgical robotic devices. For example, when flexible robotic devices are used for inserting minimal-invasive tools along curved paths into the knee joint for arthr...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2022-07-01
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| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2022-0035 |
| _version_ | 1797998065187028992 |
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| author | Tomooka Yukiko Rauter Georg Gerig Nicolas Takeda Ryo Cattin Philippe Eugster Manuela |
| author_facet | Tomooka Yukiko Rauter Georg Gerig Nicolas Takeda Ryo Cattin Philippe Eugster Manuela |
| author_sort | Tomooka Yukiko |
| collection | DOAJ |
| description | Varying device stiffness on purpose can provide safety and performance improvements in interventions involving flexible minimal-invasive surgical robotic devices. For example, when flexible robotic devices are used for inserting minimal-invasive tools along curved paths into the knee joint for arthroscopy, a high device stiffness can allow precise path following where desirable. In contrast, when the minimalinvasive flexible device has reached its desired location inside the patient’s body, decoupling the surgical tool (end-effector) from the flexible robotic insertion device can be beneficial in avoiding transferring disturbances such as vibrations to the robot-patient interaction. In this paper, we investigate bending stiffness variability in dependence on the length of a flexible supply channel. Our experiments have shown that bending stiffness in fact decreases with the length of the supply channel but the highest stiffness connection is not sufficiently rigid and we plan to implement a more rigid connection to allow precise path following during insertion. |
| first_indexed | 2024-04-11T10:42:33Z |
| format | Article |
| id | doaj.art-cdfc89397eef4ee59398649955830b2f |
| institution | Directory Open Access Journal |
| issn | 2364-5504 |
| language | English |
| last_indexed | 2024-04-11T10:42:33Z |
| publishDate | 2022-07-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj.art-cdfc89397eef4ee59398649955830b2f2022-12-22T04:29:08ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042022-07-018113814110.1515/cdbme-2022-0035Bending stiffness variability between a deployable robotic laser osteotome and its insertion deviceTomooka Yukiko0Rauter Georg1Gerig Nicolas2Takeda Ryo3Cattin Philippe4Eugster Manuela5BIROMED-Lab, Department of Biomedical Engineering, University of Basel, Gewerbestrasse 14, 4123Allschwil, SwitzerlandBIROMED-Lab, Department of Biomedical Engineering, University of Basel, Gewerbestrasse 14, 4123Allschwil, SwitzerlandBIROMED-Lab, Department of Biomedical Engineering, University of Basel, Gewerbestrasse 14, 4123Allschwil, SwitzerlandLaboratory of Deformation Control, Division of Mechanical and Aerospace Engineering, Faculty of Engineering, Hokkaido University,Hokkaido, JapanCIAN, Department of Biomedical Engineering, University of Basel,Allschwil, SwitzerlandBIROMED-Lab, Department of Biomedical Engineering, University of Basel, Gewerbestrasse 14, 4123Allschwil, SwitzerlandVarying device stiffness on purpose can provide safety and performance improvements in interventions involving flexible minimal-invasive surgical robotic devices. For example, when flexible robotic devices are used for inserting minimal-invasive tools along curved paths into the knee joint for arthroscopy, a high device stiffness can allow precise path following where desirable. In contrast, when the minimalinvasive flexible device has reached its desired location inside the patient’s body, decoupling the surgical tool (end-effector) from the flexible robotic insertion device can be beneficial in avoiding transferring disturbances such as vibrations to the robot-patient interaction. In this paper, we investigate bending stiffness variability in dependence on the length of a flexible supply channel. Our experiments have shown that bending stiffness in fact decreases with the length of the supply channel but the highest stiffness connection is not sufficiently rigid and we plan to implement a more rigid connection to allow precise path following during insertion.https://doi.org/10.1515/cdbme-2022-0035robotic surgerysupply channelvariable stiffnessparallel robotrobotic endoscopeminimally invasive surgerylaser osteotomy |
| spellingShingle | Tomooka Yukiko Rauter Georg Gerig Nicolas Takeda Ryo Cattin Philippe Eugster Manuela Bending stiffness variability between a deployable robotic laser osteotome and its insertion device Current Directions in Biomedical Engineering robotic surgery supply channel variable stiffness parallel robot robotic endoscope minimally invasive surgery laser osteotomy |
| title | Bending stiffness variability between a deployable robotic laser osteotome and its insertion device |
| title_full | Bending stiffness variability between a deployable robotic laser osteotome and its insertion device |
| title_fullStr | Bending stiffness variability between a deployable robotic laser osteotome and its insertion device |
| title_full_unstemmed | Bending stiffness variability between a deployable robotic laser osteotome and its insertion device |
| title_short | Bending stiffness variability between a deployable robotic laser osteotome and its insertion device |
| title_sort | bending stiffness variability between a deployable robotic laser osteotome and its insertion device |
| topic | robotic surgery supply channel variable stiffness parallel robot robotic endoscope minimally invasive surgery laser osteotomy |
| url | https://doi.org/10.1515/cdbme-2022-0035 |
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