Abstract:
Advances in magnetically actuated surgical instru-ments have reduced the size and increased the dexterity of tools for minimally invasive surgery. However, studies typica...Show MoreMetadata
Abstract:
Advances in magnetically actuated surgical instru-ments have reduced the size and increased the dexterity of tools for minimally invasive surgery. However, studies typically focus on evaluating the control of individual instruments during tool development, while few studies examined the deployment of multiple tools, despite the common need for bimanual operations in surgery. When more than one magnetically actuated instrument is positioned in close proximity and controlled with the same magnetic field source, uncoupled and independent control of multiple instruments becomes challenging due to the complex magnetic interactions from the magnetic instruments' interference and the external field actuation. The current paper proposes a novel bimanual operation approach, where one instrument is designed to be actuated using a spatially uniform magnetic field with static directions, and the other instrument is designed to be actuated with a rotating magnetic field. The proposed concept was evaluated with experiments and demonstrated with a simulated bimanual tissue cutting task, using an electromagnetic navigation system and two magnetic tools (a gripper and a pair of scissors) that satisfy the magnetic actuation design requirements. During bimanual operation, experiments showed a 19% gripping force drop of the gripper and less than 10% closing force drop of the scissors, resulting in 35 mN of scissors closing force for cutting.
Published in: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Date of Conference: 01-04 September 2024
Date Added to IEEE Xplore: 23 October 2024
ISBN Information:
ISSN Information:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Surgical Instruments ,
- Magnetic Actuation ,
- Bimanual Operation ,
- Magnetic Field ,
- External Field ,
- Minimally Invasive Surgery ,
- Uniform Field ,
- Magnetic Interactions ,
- Grip Force ,
- Electromagnetic System ,
- Pair Of Scissors ,
- Magnetic Field Source ,
- Forceps ,
- Workspace ,
- External Magnetic Field ,
- Magnetic Moment ,
- Permanent Magnet ,
- Magnetic Force ,
- Magnetic Flux ,
- Robotic Arm ,
- Cylindrical Magnet ,
- Magnetic Torque ,
- Magnetic Direction ,
- Direction Of The External Field ,
- Magnetic Control ,
- Magnetic Coil ,
- Static Magnetic Field ,
- Surgical Tools ,
- Agar Gel ,
- Field Gradient
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Surgical Instruments ,
- Magnetic Actuation ,
- Bimanual Operation ,
- Magnetic Field ,
- External Field ,
- Minimally Invasive Surgery ,
- Uniform Field ,
- Magnetic Interactions ,
- Grip Force ,
- Electromagnetic System ,
- Pair Of Scissors ,
- Magnetic Field Source ,
- Forceps ,
- Workspace ,
- External Magnetic Field ,
- Magnetic Moment ,
- Permanent Magnet ,
- Magnetic Force ,
- Magnetic Flux ,
- Robotic Arm ,
- Cylindrical Magnet ,
- Magnetic Torque ,
- Magnetic Direction ,
- Direction Of The External Field ,
- Magnetic Control ,
- Magnetic Coil ,
- Static Magnetic Field ,
- Surgical Tools ,
- Agar Gel ,
- Field Gradient