Evaluation of long-term stability of monolithic 3D-printed robotic manipulator structures for minimally invasive surgery
PURPOSE: In 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.
METHODS: Customizable 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.
RESULTS: The 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.
CONCLUSION: It 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.
| Medienart: |
E-Artikel |
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| Erscheinungsjahr: |
2020 |
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| Erschienen: |
2020 |
| Enthalten in: |
Zur Gesamtaufnahme - volume:15 |
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| Enthalten in: |
International journal of computer assisted radiology and surgery - 15(2020), 10 vom: 13. Okt., Seite 1693-1697 |
| Sprache: |
Englisch |
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| Beteiligte Personen: |
Krieger, Yannick S [VerfasserIn] |
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| Links: |
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| Themen: |
3D printing |
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| Anmerkungen: |
Date Completed 22.02.2021 Date Revised 22.02.2021 published: Print-Electronic Citation Status MEDLINE |
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| doi: |
10.1007/s11548-020-02244-6 |
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| funding: |
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| Förderinstitution / Projekttitel: |
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| PPN (Katalog-ID): |
NLM313644373 |
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| 100 | 1 | |a Krieger, Yannick S |e verfasserin |4 aut | |
| 245 | 1 | 0 | |a Evaluation of long-term stability of monolithic 3D-printed robotic manipulator structures for minimally invasive surgery |
| 264 | 1 | |c 2020 | |
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| 500 | |a Date Completed 22.02.2021 | ||
| 500 | |a Date Revised 22.02.2021 | ||
| 500 | |a published: Print-Electronic | ||
| 500 | |a Citation Status MEDLINE | ||
| 520 | |a PURPOSE: In 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 | ||
| 520 | |a METHODS: Customizable 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 | ||
| 520 | |a RESULTS: The 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 | ||
| 520 | |a CONCLUSION: It 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 | ||
| 650 | 4 | |a Journal Article | |
| 650 | 4 | |a 3D printing | |
| 650 | 4 | |a Minimally invasive surgery | |
| 650 | 4 | |a Patient-specific | |
| 650 | 4 | |a Surgical robotics | |
| 700 | 1 | |a Ostler, Daniel |e verfasserin |4 aut | |
| 700 | 1 | |a Rzepka, Korbinian |e verfasserin |4 aut | |
| 700 | 1 | |a Meining, Alexander |e verfasserin |4 aut | |
| 700 | 1 | |a Feussner, Hubertus |e verfasserin |4 aut | |
| 700 | 1 | |a Wilhelm, Dirk |e verfasserin |4 aut | |
| 700 | 1 | |a Lueth, Tim C |e verfasserin |4 aut | |
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