In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiff...In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.展开更多
Esophageal cancer(EC)is among the most common malignances and one of the leading causes of cancer-related death worldwide.Surgery plays a significant role in the multidisciplinary treatment for esophageal cancer.Recen...Esophageal cancer(EC)is among the most common malignances and one of the leading causes of cancer-related death worldwide.Surgery plays a significant role in the multidisciplinary treatment for esophageal cancer.Recent advances in minimally invasive esophagectomy(MIE),including conventional thoracoscopic surgery and more recent robotic surgery,has been shown to improve short-term outcomes compared to open surgery.Robot-assisted minimally invasive esophagectomy(RAMIE)was first performed in 2003 and has been increasingly utilized in tertiary medical centers.Compared to conventional video-assisted minimally esophagectomy(VAMIE),RAMIE provides certain advantages such as increased magnification,three-dimensional visual clarity and better lymphadenectomy,with superior short-term outcome and at least equivalent oncological results.This review focuses on the techniques,benefits and obstacles in applications of robotic esophagectomy for treating EC,meanwhile discussing the future of robotic esophageal surgery.展开更多
基金supported by FRC Tier I grants R397000156112 and R397000157112,National University of Singapore
文摘In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.
基金National Natural Science Foundation of China(81871882)Shanghai Municipal Commission of Health and Family Planning Outstanding Academic Leaders Training Program(2017BR055)Shanghai Municipal Education Commission-Gaofeng Clinical Medicine Grant(20172005).
文摘Esophageal cancer(EC)is among the most common malignances and one of the leading causes of cancer-related death worldwide.Surgery plays a significant role in the multidisciplinary treatment for esophageal cancer.Recent advances in minimally invasive esophagectomy(MIE),including conventional thoracoscopic surgery and more recent robotic surgery,has been shown to improve short-term outcomes compared to open surgery.Robot-assisted minimally invasive esophagectomy(RAMIE)was first performed in 2003 and has been increasingly utilized in tertiary medical centers.Compared to conventional video-assisted minimally esophagectomy(VAMIE),RAMIE provides certain advantages such as increased magnification,three-dimensional visual clarity and better lymphadenectomy,with superior short-term outcome and at least equivalent oncological results.This review focuses on the techniques,benefits and obstacles in applications of robotic esophagectomy for treating EC,meanwhile discussing the future of robotic esophageal surgery.
