Details
| Original language | English |
|---|---|
| Pages (from-to) | 1498-1510 |
| Number of pages | 13 |
| Journal | Annals of biomedical engineering |
| Volume | 46 |
| Issue number | 10 |
| Early online date | 31 May 2018 |
| Publication status | Published - 15 Oct 2018 |
Abstract
Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes.
Keywords
- Continuum robot, Granular jamming, Layer jamming, Variable stiffness
ASJC Scopus subject areas
- Engineering(all)
- Biomedical Engineering
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In: Annals of biomedical engineering, Vol. 46, No. 10, 15.10.2018, p. 1498-1510.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy
AU - Amanov, E.
AU - Nguyen, T. D.
AU - Markmann, S.
AU - Imkamp, F.
AU - Burgner-Kahrs, J.
N1 - Publisher Copyright: © 2018, Biomedical Engineering Society.
PY - 2018/10/15
Y1 - 2018/10/15
N2 - Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes.
AB - Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes.
KW - Continuum robot
KW - Granular jamming
KW - Layer jamming
KW - Variable stiffness
UR - http://www.scopus.com/inward/record.url?scp=85047958478&partnerID=8YFLogxK
U2 - 10.1007/s10439-018-2060-4
DO - 10.1007/s10439-018-2060-4
M3 - Article
C2 - 29855754
AN - SCOPUS:85047958478
VL - 46
SP - 1498
EP - 1510
JO - Annals of biomedical engineering
JF - Annals of biomedical engineering
SN - 0090-6964
IS - 10
ER -