Most of existing works on the tubes design optimization of concentric-tube robot (CTR) do not include the elastic stability in the optimization criteria. The only work which formulates the elastic stability in the objective function is based on scalarization method which is used in existing multi-objective design optimization. The objective function is formed by a set of weighted objective functions. The selection of the weights is crucial as the optimization results are greatly affected by them and could be misleading if these weights are improperly chosen. As an alternative optimization technique, we use Pareto grid-searching method to avoid this problem and allow a straightforward interpretation of the results following the selection criteria for the parameters to be optimized. This paper shows a three-tube CTR design based on Pareto grid-searching method in order to optimize the reachability and elastic stability of the CTR within a specific curvature range dedicated to the deep anterior brain tumor removal surgery.

The possibility to provide an adequate task assistance using underactuated robots for human-robot tool comanipulation is investigated. This novel approach does not take into account any a priori knowledge about user depending parameters however optimizes the robot-user synergy, for instance during US breast examinations. Results show that the examination time can be reduced and a tendency for increasing scanning accuracy using underactuated robots.

Instruments used in many types of minimally invasive procedures, in particular laparoscopy, are rigid or only limitedly flexible and some tasks like suturing are difficult to perform with them. A novel hand-held, lightweight and ergonomic mechatronic instrument is presented in this paper. The instrument has a 3-DOF roll-pitch-roll end-effector controlled using an easy to use handle that provides the surgeon with a 6-DOF movement, including a distal circular movement which resembles the circular movement of stitching. The design of the instrument is based on a global study involving control, dexterity and ergonomic aspects, with the aim of developing an instrument that enhances the dexterity of the surgeon while having an intuitive and ergonomic interface. A proof of concept prototype was built and tested in vitro and in vivo.

Shape and mechanical structure of instruments play a large part in the lack of ergonomics during laparoscopic surgery. Providing intra-abdominal mobility and rethinking handles design are two solutions to increase comfort and precision of gestures. Based on previous work that determined the optimal intra-abdominal kinematics, this study analyses the influence of handle design on both gesture and ergonomic performance. A virtual reality laparoscopic simulator was developed to perform an experimental comparison between two novel robotized instruments and standard ones. A group of 10 surgeons and 6 researchers in robotics carried out two representative surgical tasks with each instrument. Based on instrument and arm segments tracking, a gesture performance index and an ergonomic performance index were computed. The study demonstrates that distal mobilities combined with improved handle design and integration increase ergonomic level during laparoscopy and facilitate complex gestures.

Probe-based confocal laser endomicroscopy is a promising technology for performing minimally-invasive optical biopsies. With the help of mosaicing algorithms, several studies reported successful results in endoluminal surgery. In this paper, we present a prototype for making robotized optical biopsies on a variety of organs inside the abdominal cavity. We chose a macro-micro association, with a macropositioner, a micropositioner and a passive mechanical compensation of physiological motion. The probe is actuated by three hydraulic micro-balloons and can be moved on the surface of an organ to generate a mosaic. This paper presents the design and experimental results of a first in vivo trial on a porcine model.