Jianchen Wang’s research while affiliated with Tianjin University and other places

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Publications (3)


Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single-site surgery (LESS)
  • Article

August 2017

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121 Reads

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49 Citations

International Journal of Medical Robotics and Computer Assisted Surgery

Jianchen Wang

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Jinhua Li

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[...]

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Randall Miller Briggs

Background: For current LESS robotic systems, the trade-off between dexterity and payload capability is always present. This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms. Methods: Each manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7-DoF compliant status and 5-DoF rigid status according to the operation requirement. Screw theory and product exponential formula are used to quantify the kinematic performance. Results: The stiffness of the manipulation arm promotes 3.03 to 4.12 times from compliant to rigid CSCS with maximum payload of 10 N in rigid status. The shortest rigid/compliant switching time is 5 s. The precision of a tracking test and an ex vivo procedure verified the accuracy and effectiveness of the controllable stiffness manipulation arms. Conclusions: This robot could potentially improve the surgical performance and further expand robotic LESS procedures.


Design and evaluation of a variable stiffness manual operating platform for laparoendoscopic single site surgery (LESS)

February 2017

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97 Reads

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27 Citations

International Journal of Medical Robotics and Computer Assisted Surgery

Background: Most of the existing robotic platforms for LESS have workspace and load capacity weaknesses, because of the limitation of one single incision. We have developed a LESS manual operating platform of which the stiffness of the insertion tube is controllable. Methods: The system included two dexterous tool manipulators, a stereo-vision module and a variable stiffness insertion tube (VSIT), which was designed using phase-change material (mixed indium, gallium and stannum). Experiments to evaluate the effectiveness of the VSIT were set up. Peg transfer tasks and trajectory tracking tasks were conducted to assess the initial performance of the overall system. Results: The experimental results for stiffness characteristic suggested that the rigidity of the VSIT with a straight-forward pose was considerably increased by about four times in the rigid mode. Peg transfer tasks and trajectory tracking tasks were performed successfully with an average time of 97 s and 52 s, respectively. Conclusions: The experimental results for stiffness characteristic showed that the manual operating platform had great promise for solving large workspace, high manipulation force and stability problems in LESS. The tool manipulators had the ability to achieve basic operations.


Modelling and quality control of robot-assisted gastrointestinal assembly

May 2015

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34 Reads

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3 Citations

CIRP Annals

Surgical soft tissue assembly is characterized by the hyperelasticity, bio-compatibility of the parts to be joined and the specific medical evaluation criteria which differs from traditional mechanical assembly. The minimally invasive surgical (MIS) robot equipped with a functional end-effector is an effective platform for the complicated surgical task. This paper presents a mechanical model of robot-assisted gastrointestinal assembly and the use of such model in the control of assembly quality. The finite element method (FEM) simulation illustrates the stress distribution and joint formation process. The geometrical parameters of the assembled B-shaped staple are used to optimize variables in the mechanical model.

Citations (3)


... Jamming modules show advantages in responding time [16], shape adaptability [17], and structural simplicity [13], [14], highlighting their unexplored potential in FTL applications [2]. A jamming module usually comprises a sealed soft membrane and fillings inside (Fig. 1A1). ...

Reference:

JammingSnake: A follow-the-leader continuum robot with variable stiffness based on fiber jamming
Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single-site surgery (LESS)
  • Citing Article
  • August 2017

International Journal of Medical Robotics and Computer Assisted Surgery

... The K-FLEX developed by KAIST is a fully robotic endoscope with one passive proximal section, two active distal sections and two robotic instruments (Hwang et al., 2018), but the insertion is still performed manually. The LESS system uses a short robotic body and two manually controlled instruments (Li et al., 2017). This system was developed originally for single port applications and therefore is not applicable to natural orifice surgery. ...

Design and evaluation of a variable stiffness manual operating platform for laparoendoscopic single site surgery (LESS)
  • Citing Article
  • February 2017

International Journal of Medical Robotics and Computer Assisted Surgery

... Previous studies indicated that the conventional ultrasonic scalpels typically generate a temperature below 80~100℃ while cutting, which is not capable of sealing the vessels with a large diameter of more than 3mm [12][13][14]. To avoid the rupture of large blood vessels and the possibly serious surgical risks, instead of the energybased hemostatic instruments, vascular closure devices [15], titanium nip [5], and staplers [16] are often selected as hemostatic tools. Nevertheless, these methods will leave foreign substances in the human body and the frequent replacement of surgical instruments will extend the operation time and lead to increased risks of surgical complications. ...

Modelling and quality control of robot-assisted gastrointestinal assembly
  • Citing Article
  • May 2015

CIRP Annals