ArticleInternational journal of computer assisted radiology and surgery2020
Evaluation of long-term stability of monolithic 3D-printed robotic manipulator structures for minimally invasive surgery.
Article in International journal of computer assisted radiology and surgery, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed, 7 citations in OpenAlex.
- PLAFOKON: a new concept for a patient-individual and intervention-specific flexible surgical platform.Surgical endoscopy · 2022Article
- Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery.International journal of computer assisted radiology and surgery · 2021Article
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Authors and funding
7 authors at 2 institutions in 1 country.
Funding
Abstract
purposeIn the era of patient-centered medicine, clinical procedures, tools and instruments should be individually adapted to the patient. In this context, the presented 3D-printed Single-Port Overtube Manipulator System follows the aims to provide patient- and task-specific disposable manipulators for minimally invasive surgery. In a first experiment, the robustness of the monolithic flexure hinge structures in use as robotic manipulators will be investigated.
methodsCustomizable monolithic manipulator structures designed by means of an automated design process and manufactured with selective laser sintering were investigated with regard to long-term stability in an endurance test. Therefore, a bare manipulator arm, an arm equipped with a standard instrument and finally loaded with an additional load of 0.5 N were evaluated by continuously following a trajectory within the workspace of the manipulator arms over a period of 90 min.
resultsThe unloaded manipulator as well as the manipulator arm equipped with a standard instrument showed a sufficient reproducibility (deviation of 1.5 mm and 2.5 mm, respectively, on average) with regard to an application as telemanipulated master-slave surgical robotic system. The 3D-printed manipulators showed no damage and maintained integrity after the experiment.
conclusionIt has been shown that 3D-printed manipulators in principle are suitable for use as disposable surgical manipulator systems and offer a long-term stability over at least 90 min. The developed manipulator design shows great potential for the production of patient-, task- and user-specific robot systems. However, the manipulator geometries as well as the control strategies still show room for improvements.
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