With the development of minimally invasive surgery, many open surgery has been replaced by intracavity surgery. In laparoscopic surgery, an electric fibroid morcellator must be used to remove large tissue specimens from a small abdominal incision. Of course, there are some complications in the use, in order to follow the principle of no tumor, the doctor used the laparoscopic pouch in clinical operation to reduce the risk of spreading potential tumor tissue. There are various kinds of pouches, which are classified according to their existing state before use, it can be classified into two categories:overlapping and non-overlapping. The advantages and disadvantages of different bags and pockets are also analyzed. It provides a theoretical basis for technological innovation and equipment improvement.
Laparoscopy ; instrumentation ; Minimally Invasive Surgical Procedures

Da Vinci robotic surgical system leads the development of minimally invasive surgical techniques. By using Da Vinci surgical robot for minimally invasive surgery, it brings a lot of advantages to the surgeons. Since 2008, Da Vinci surgeries have been performed in 14 hospitals in domestic cities such as Beijing and Shanghai. Until the end of 2012, 3 551 cases of Da Vinci robotic surgery have been performed, covering various procedures of various surgical departments including the department of general surgery, urology, cardiovascular surgery, thoracic surgery, gynecology, and etc. Robotic surgical technique has made remarkable achievements.
Humans ; Minimally Invasive Surgical Procedures ; instrumentation ; Robotic Surgical Procedures

As it is impossible for an active catheter with a very small space to accommodate overmany lead wires in minimally-invasive surgery, a matrix network system is presented, in this paper, to control SMA actuators using minimum lead wires. Pulse current is adjusted by pulse width modulation (PWM) signals from the single-chip processor. In addition, multiple SMA actuators' cooperation helps the active catheter to succeed in guiding motion.
Alloys ; Catheterization ; instrumentation ; Equipment Design ; Minimally Invasive Surgical Procedures ; instrumentation

Medical robotics has played an increasingly important role in the recent years in robotics field. An overview of the minimally invasive surgery robots, rehabilitative robots and hospital service robots are offered here, and relevant tendencies are also referred to.
Minimally Invasive Surgical Procedures ; instrumentation ; Robotics ; instrumentation ; trends

This paper introduces a new search strategy on the basis of self-adaption step, aiming at solving the problem that primary double iron rotating electro-magnetic tracking method can not make a good balance of accuracy and efficiency. Through the emulation, we can conclude that this new strategy can sharply increase the efficiency, with the accuracy identical to that of the fixed-step (0.5 degrees).
Minimally Invasive Surgical Procedures ; instrumentation ; methods ; Radiation ; Surgical Instruments

This paper introduces a new robot-assisted percutaneous surgery system, its structure and the functions of each subsystems. In addition, a discussion about some foreign systems is made and the technical developing trend of robot-assisted percutaneous surgery systems is given.
Minimally Invasive Surgical Procedures ; instrumentation ; Robotics ; Surgery, Computer-Assisted ; methods

At present, there still exist some limitations in the laparoscopic surgery robot represented by da Vinci surgical robot, such as the lack of force feedback function. Doctor can not feel the force feedback while operating. In this paper, a new minimally invasive laparoscopic surgery robot system is designed. Based on the master side surgeon's console, stereo vision subsystem and the slave side surgical cart, the multi-dimensional instrument force feedback technology and force feedback based safety protection strategy are introduced. The design realizes the force sensing function of full state operation. Besides, a number of different live pig experiments are carried out. The amount of bleeding in these experiments is relatively small compared with the data of the same kind of surgical robots, which effectively validates the force feedback and surgical safety protection strategies of the new robot system.
Animals ; Equipment Design ; Laparoscopy ; instrumentation ; Minimally Invasive Surgical Procedures ; Robotic Surgical Procedures ; instrumentation ; Robotics ; Swine

Humans ; Minimally Invasive Surgical Procedures ; instrumentation ; methods ; Neurosurgical Procedures ; instrumentation ; methods

Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.
Feedback ; Humans ; Minimally Invasive Surgical Procedures ; instrumentation ; Robotics ; instrumentation ; Surgery, Computer-Assisted ; instrumentation ; Touch Perception

The MEMS-based micro surgical tools are a kind of new devices applied in the minimally-invasive surgery. This paper introduces their application background and basic technology first, and then lays emphasis on the typical research accomplishments in the world. Finally, the research activities in China and some of the difficulties about the work are discussed.
Biosensing Techniques ; Endoscopes ; Equipment Design ; Microsurgery ; instrumentation ; Minimally Invasive Surgical Procedures ; instrumentation ; Surgical Equipment