This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a single tendon to provide high distal curvature. We derive and experimentally validate kinematic and static models for the wrist and describe several prototype wrists, illustrating the straightforward fabrication and scalability of the design. We experimentally investigate fatigue life, the concept of tip-first bending, and practical use of the wrist with a concentric tube robot in an endonasal surgical scenario.
Issue Section:
Technical Brief
Topics:
Design,
Kinematics,
Manufacturing,
Needles,
Nickel titanium alloys,
Surgical tools,
Tendons,
Testing,
Surgery,
Statics,
Robots
References
1.
Aurora
, A. R.
, and Ponsky
, J. L.
, 2013
, “Future Perspectives on Scarless Surgery: Where We Have Been and Where We are Going
,” Scar-Less Surgery
, Springer
, New York
, pp. 341
–350
.2.
Yuan
, R.-H.
, Lee
, W.-J.
, and Yu
, S.-C.
, 1997
, “Mini-Laparoscopic Cholecystectomy: A Cosmetically Better, Almost Scarless Procedure
,” J. Laparoendosc. Adv. Surg. Tech.
, 7
(4
), pp. 205
–211
.3.
Bonnet
, L.
, Fett
, V.
, and Wagner
, S.
, 1998
, “Microsurgery: Micro-and Mini-Instruments
,” Minimally Invasive Ther. Allied Technol.
, 7
(3
), pp. 195
–200
.4.
Üneri
, A.
, Balicki
, M.
, Handa
, J.
, Gehlbach
, P.
, Taylor
, R. H.
, and Iordachita
, I.
, 2010
, “New Steady-Hand Eye Robot With Micro-Force Sensing for Vitreoretinal Surgery
,” IEEE RAS and EMBS
International Conference on Biomedical Robotics and Biomechatronics
, Sept. 26–29, pp. 814
–819
.5.
Asai
, S.
, Ishimoto
, H.
, Yabuno
, A.
, Asada
, H.
, Mikami
, M.
, and Yoshimura
, Y.
, 2016
, “A Novel Modification of Two-Port Laparoscopic Ovarian Cystectomy Using a Needlescopic Instrument: One Surgeon's Initial Experience
,” Gynecol. Minimally Invasive Ther.
, 5
(3
), pp. 120
–123
.6.
Snyderman
, C. H.
, Carrau
, R. L.
, Kassam
, A. B.
, Zanation
, A.
, Prevedello
, D.
, Garnder
, P.
, and Mintz
, A.
, 2008
, “Endoscopic Skull Base Surgery: Principles of Endonasal Oncological Surgery
,” J. Surg. Oncol.
, 97
(8
), pp. 658
–664
.7.
Burgner
, J.
, Rucker
, D. C.
, Gilbert
, H. B.
, Swaney
, P. J.
, Russell
, P. T.
, Weaver
, K. D.
, and Webster
, R. J.
, 2014
, “A Telerobotic System for Transnasal Surgery
,” IEEE Trans. Mechatronics
, 19
(3
), pp. 996
–1006
.8.
Badr-el Dine
, M.
, 2002
, “Value of Ear Endoscopy in Cholesteatoma Surgery
,” Otol. Neurotol.
, 23
(5
), pp. 631
–635
.9.
Golanó
, P.
, Vega
, J.
, Pérez-Carro
, L.
, and Götzens
, V.
, 2006
, “Ankle Anatomy for the Arthroscopist—Part I: The Portals
,” Foot Ankle Clin.
, 11
(2
), pp. 253
–273
.10.
Berkelman
, P.
, and Ma
, J.
, 2009
, “A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery
,” Int. J. Rob. Res.
, 28
(9
), pp. 1198
–1215
.11.
Shang
, J.
, Noonan
, D. P.
, Payne
, C.
, Clark
, J.
, Sodergren
, M. H.
, Darzi
, A.
, and Yang
, G.-Z.
, 2011
, “An Articulated Universal Joint Based Flexible Access Robot for Minimally Invasive Surgery
,” IEEE
International Conference on Robotics and Automation
, May 9–13, pp. 1147
–1152
.12.
Shin
, W.-H.
, and Kwon
, D.-S.
, 2013
, “Surgical Robot System for Single-Port Surgery With Novel Joint Mechanism
,” IEEE Trans. Biomed. Eng.
, 60
(4
), pp. 937
–944
.13.
Zhao
, B.
, and Nelson
, C. A.
, 2013
, “Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory
,” J. Med. Devices
, 7
(2
), p. 020918
.14.
Jelínek
, F.
, Pessers
, R.
, and Breedveld
, P.
, 2013
, “Dragonflex–Smart Steerable Laparoscopic Instrument
,” J. Med. Devices
, 7
(2
), p. 020911
.15.
Ishii
, C.
, and Kobayashi
, K.
, 2007
, “Development of a New Bending Mechanism and Its Application to Robotic Forceps Manipulator
,” IEEE
International Conference on Robotics and Automation
, Apr. 10–14, pp. 238
–243
.16.
Hammond
, F.
, Howe
, R.
, and Wood
, R.
, 2013
, “Dexterous High-Precision Robotic Wrist for Micromanipulation
,” International Conference on Advanced Robotics
, Nov. 25–29, pp. 1
–8
.17.
Hong
, M. B.
, and Jo
, Y.-H.
, 2014
, “Design of a Novel 4-DOF Wrist-Type Surgical Instrument With Enhanced Rigidity and Dexterity
,” IEEE/ASME Trans. Mechatronics
, 19
(2
), pp. 500
–511
.18.
Arata
, J.
, Saito
, Y.
, and Fujimoto
, H.
, 2010
, “Outer Shell Type 2-DOF Bending Manipulator Using Spring-Link Mechanism for Medical Applications
,” IEEE
International Conference on Robotics and Automation
, Anchorage, AL, May 3–8, pp. 1041
–1046
.http://fileadmin.cs.lth.se/ai/Proceedings/ICRA2010/MainConference/data/papers/0258.pdf19.
Sieklicki
, W.
, Zoppi
, M.
, and Molfino
, R.
, 2009
, “Superelastic Compliant Mechanisms for Needlescopic Surgical Wrists
,” ASME/IFToMM
International Conference on Reconfigurable Mechanisms and Robots
, June 22–24, pp. 392
–399
.http://ieeexplore.ieee.org/document/5173859/20.
Breedveld
, P.
, 2010
, “Steerable Laparoscopic Cable-Ring Forceps
,” J. Med. Devices
, 4
(2
), p. 027518
.21.
He
, X.
, van Geirt
, V.
, Gehlbach
, P.
, Taylor
, R.
, and Iordachita
, I.
, 2015
, “IRIS: Integrated Robotic Intraocular Snake
,” IEEE
International Conference on Robotics and Automation
, May 26–30, pp. 1764
–1769
.22.
Frasson
, L.
, Ko
, S. Y.
, Turner
, A.
, Parittotokkaporn
, T.
, Vincent
, J. F.
, and Rodriguez y Baena
, F.
, 2010
, “Sting: A Soft-Tissue Intervention and Neurosurgical Guide to Access Deep Brain Lesions Through Curved Trajectories
,” Proc. Inst. Mech. Eng., Part H
, 224
(6
), pp. 775
–788
.23.
Moses
, M. S.
, Kutzer
, M. D. M.
, Ma
, H.
, and Armand
, M.
, 2013
, “A Continuum Manipulator Made of Interlocking Fibers
,” IEEE
International Conference on Robotics and Automation
, May 6–10, pp. 4008
–4015
.24.
Simaan
, N.
, 2005
, “Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization
,” IEEE
International Conference on Robotics and Automation
, Apr. 18–22, pp. 3012
–3017
.25.
Nai
, T. Y.
, Herder
, J. L.
, and Tuijthof
, G. J.
, 2011
, “Steerable Mechanical Joint for High Load Transmission in Minimally Invasive Instruments
,” J. Med. Devices
, 5
(3
), p. 034503
.26.
Peirs
, J.
, Van Brussel
, H.
, Reynaerts
, D.
, and De Gersem
, G.
, 2002
, “A Flexible Distal Tip With Two Degrees of Freedom for Enhanced Dexterity in Endoscopic Robot Surgery
,” 13th Micromechanics Europe Workshop
, Sinaia, Romania, Oct. 6–8, pp. 271
–274
.http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.557.1729&rep=rep1&type=pdf27.
Gerboni
, G.
, Henselmans
, P. W. J.
, Arkenbout
, E. A.
, van Furth
, W. R.
, and Breedveld
, P.
, 2015
, “Helixflex: Bioinspired Maneuverable Instrument for Skull Base Surgery
,” Bioinspiration Biomimetics
, 10
(6
), p. 066013
.28.
Jelínek
, F.
, Arkenbout
, E. A.
, Henselmans
, P. W. J.
, Pessers
, R.
, and Breedveld
, P.
, 2015
, “Classification of Joints Used in Steerable Instruments for Minimally Invasive Surgery—A Review of the State of the Art
,” J. Med. Devices
, 9
(1
), p. 010801
.29.
Kutzer
, M. D. M.
, Segreti
, S. M.
, Brown
, C. Y.
, Armand
, M.
, Taylor
, R. H.
, and Mears
, S. C.
, 2011
, “Design of a New Cable-Driven Manipulator With a Large Open Lumen: Preliminary Applications in the Minimally-Invasive Removal of Osteolysis
,” IEEE
International Conference on Robotics and Automation
, May 9–13, pp. 2913
–2920
.30.
Wei
, D.
, Wenlong
, Y.
, Dawei
, H.
, and Zhijiang
, D.
, 2012
, “Modeling of Flexible Arm With Triangular Notches for Applications in Single Port Access Abdominal Surgery
,” IEEE
International Conference on Robotics and Biomimetics
, Dec. 11–14, pp. 588
–593
.31.
Fischer
, H.
, Vogel
, B.
, Pfleging
, W.
, and Besser
, H.
, 1999
, “Flexible Distal Tip Made of Nitinol (NiTi) for a Steerable Endoscopic Camera System
,” Mater. Sci. Eng. A
, 273–275
, pp. 780
–783
.32.
Liu
, J.
, Hall
, B.
, Frecker
, M.
, and Reutzel
, E. W.
, 2013
, “Compliant Articulation Structure Using Superelastic Nitinol
,” Smart Mater. Struct.
, 22
(9
), p. 094018
.33.
Kim
, J.
, Lee
, D.
, Kim
, K.
, Kang
, S.
, and Cho
, K.-J.
, 2014
, “Toward a Solution to the Snapping Problem in a Concentric-Tube Continuum Robot: Grooved Tubes With Anisotropy
,” IEEE
International Conference on Robotics and Automation
, May 31–June 7, pp. 5871
–5876
.34.
Haga
, Y.
, Muyari
, Y.
, Goto
, S.
, Matsunaga
, T.
, and Esashi
, M.
, 2011
, “Development of Minimally Invasive Medical Tools Using Laser Processing on Cylindrical Substrates
,” Electr. Eng. Jpn.
, 176
(1
), pp. 65
–74
.35.
Bell
, J. A.
, Saikus
, C. E.
, Ratnayaka
, K.
, Wu
, V.
, Sonmez
, M.
, Faranesh
, A. Z.
, Colyer
, J. H.
, Lederman
, R. J.
, and Kocaturk
, O.
, 2012
, “A Deflectable Guiding Catheter for Real-Time MRI-Guided Interventions
,” J. Magn. Reson. Imaging
, 35
(4
), pp. 908
–915
.36.
Ryu
, S. C.
, Renaud
, P.
, Black
, R.
, Daniel
, B. L.
, and Cutkosky
, M. R.
, 2011
, “Feasibility Study of an Optically Actuated MR-Compatible Active Needle
,” IEEE/RSJ
International Conference on Intelligent Robots and Systems
, pp. 2564
–2569
.37.
York
, P. A.
, Swaney
, P. J.
, Gilbert
, H. B.
, and Webster
, R. J.
, III, 2015
, “A Wrist for Needle-Sized Surgical Robots
,” IEEE
International Conference on Robotics and Automation
, May 26–30, pp. 1776
–1781
.38.
Webster
, R. J.
, III, and Jones
, B. A.
, 2010
, “Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
,” Int. J. Rob. Res.
, 29
(13
), pp. 1661
–1683
.39.
Pelton
, A.
, DiCello
, J.
, and Miyazaki
, S.
, 2000
, “Optimisation of Processing and Properties of Medical Grade Nitinol Wire
,” Minimally Invasive Ther. Allied Technol.
, 9
(2
), pp. 107
–118
.40.
Reedlunn
, B.
, Churchill
, C. B.
, Nelson
, E. E.
, Shaw
, J. A.
, and Daly
, S. H.
, 2014
, “Tension, Compression, and Bending of Superelastic Shape Memory Alloy Tubes
,” J. Mech. Phys. Solids
, 63
, pp. 506
–537
.41.
Tan
, G.
, and Liu
, Y.
, 2004
, “Comparative Study of Deformation-Induced Martensite Stabilisation Via Martensite Reorientation and Stress-Induced Martensitic Transformation in NiTi
,” Intermetallics
, 12
(4
), pp. 373
–381
.42.
Memry Corporation
, 2015
, “Nitinol Tube
,” Memry Corporation
, Bethel, CT
, accessed July 24, 2015, http://www.memry.com/products-services/material/tube43.
Burgner-Kahrs
, J.
, Rucker
, D. C.
, and Choset
, H.
, 2015
, “Continuum Robots for Medical Applications: A Survey
,” IEEE Trans. Rob.
, 31
(6
), pp. 1261
–1280
.44.
Hendrick
, R. J.
, Herrell
, S. D.
, and Webster
, R. J.
, III, 2014
, “A Multi-Arm Hand-Held Robotic System for Transurethral Laser Prostate Surgery
,” IEEE
International Conference on Robotics and Automation
, May 31–June 7, pp. 2850
–2855
.45.
Gosline
, A. H.
, Vasilyev
, N. V.
, Butler
, E. J.
, Folk
, C.
, Cohen
, A.
, Chen
, R.
, Lang
, N.
, del Nido
, P. J.
, and Dupont
, P. E.
, 2012
, “Percutaneous Intracardiac Beating-Heart Surgery Using Metal MEMS Tissue Approximation Tools
,” Int. J. Rob. Res.
, 31
(9
), pp. 1081
–1093
.46.
Torabi
, M.
, Gupta
, R.
, and Walsh
, C. J.
, 2014
, “Compact Robotically Steerable Image-Guided Instrument for Multi-Adjacent-Point (Map) Targeting
,” IEEE Trans. Rob.
, 30
(4
), pp. 802
–815
.Copyright © 2017 by ASME
You do not currently have access to this content.
