Special Section Technical Briefs

Electromagnetic Actuator Across Abdominal Wall for Minimally Invasive Robotic Surgery1

[+] Author and Article Information
Alireza Mohammadi, Danielius Samsonas, Ying Tan, Denny Oetomo

Melbourne School of Engineering,
The University of Melbourne,
Melbourne VIC 3010, Australia

Christian Di Natali, Pietro Valdastri

Department of Mechanical Engineering,
Vanderbilt University,
Nashville, TN 37235-1592

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13–16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 17, 2015; published online July 16, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(3), 030937 (Sep 01, 2015) (3 pages) Paper No: MED-15-1093; doi: 10.1115/1.4030568 History: Received March 03, 2015; Revised March 17, 2015; Online July 16, 2015

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Mack, M. J., 2001, “Minimally Invasive and Robotic Surgery,” JAMA, 285(5), pp. 568–572. [CrossRef] [PubMed]
Fader, A. N., and Escobar, P. F., 2009, “Laparoendoscopic Single-Site Surgery (LESS) in Gynecologic Oncology: Technique and Initial Report,” Gync. Oncol., 114(2), pp. 157–161. [CrossRef]
Di Natali, C., Ranzani, T., Simi, M., Menciassi, A., and Valdastri, P., 2012, “Trans-Abdominal Active Magnetic Linkage for Robotic Surgery: Concept Definition and Model Assessment,” IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 14–18, pp. 695–700. [CrossRef]
Garbina, N., Di Natalia, C., Buzzib, J., De Momib, E., and Valdastria, P., 2014, “Laparoscopic Tissue Retractor Based on Local Magnetic Actuation,” ASME J. Med. Devices, 9(1), p. 011005. [CrossRef]


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Fig. 4

Relation between f and ω

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Fig. 3

Experimental setup of VaLMA

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Fig. 2

The schematic of VaLMA

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Fig. 1

The schematic of the LMA system reported in Ref. [3]

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Fig. 5

Schematic of the controller implementation

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Fig. 6

Simulation results of two controllers: PI and LQR



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