Autonomous High Precision Positioning of Surgical Instruments in Robot-Assisted Minimally Invasive Surgery under Visual Guidance

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification in a dynamic situation, we propose a multimodal data fusion framework to provide multiple information for accuracy enhancement. Firstly, a multi-sensors based hardware structure is designed to capture varied data from various devices, including depth camera and smartphone. Furthermore, in different surgical tasks, the robot control mechanism can shift automatically. The experimental results evaluate the efficiency of developing the multimodal framework for RAMIS by comparing it with a single sensor system. Implementing the KUKA LWR4+ in a surgical robot environment indicates that the surgical robot systems can work with medical staff in the future.

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Whole Pelvic Irradiation for Patients With Prostate Cancer With a Biochemical Relapse Following Radical Prostatectomy: The Era of Robot-Assisted Minimally Invasive Surgery

International Journal of Radiation Oncology*Biology*Physics ◽

10.1016/j.ijrobp.2014.05.1312 ◽

2014 ◽

Vol 90 (1) ◽

pp. S413

Author(s):

H. Kang ◽

J. Kim ◽

S. Byun ◽

S. Lee

Keyword(s):

Prostate Cancer ◽

Minimally Invasive Surgery ◽

Radical Prostatectomy ◽

Minimally Invasive ◽

Invasive Surgery ◽

Biochemical Relapse ◽

Pelvic Irradiation ◽

Robot Assisted

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Experimental evaluation of robot-assisted tactile sensing for minimally invasive surgery

2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics ◽

10.1109/biorob.2008.4762808 ◽

2008 ◽

Cited By ~ 11

Author(s):

Ana Luisa Trejos ◽

Jagadeesan Jayender ◽

Melissa T. Perri ◽

Michael D. Naish ◽

Rajni V. Patel ◽

...

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Experimental Evaluation ◽

Tactile Sensing ◽

Robot Assisted

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Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

Journal of Medical Devices ◽

10.1115/1.4006541 ◽

2012 ◽

Vol 6 (2) ◽

Cited By ~ 45

Author(s):

Chin-Hsing Kuo ◽

Jian S. Dai

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Inverse Kinematics ◽

Parallel Manipulator ◽

Degrees Of Freedom ◽

Surgical Instruments ◽

End Effector ◽

Minimally Invasive Surgical ◽

Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

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