A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery

2014 ◽  
Vol 8 (4) ◽  
Author(s):  
Ali Talasaz ◽  
Ana Luisa Trejos ◽  
Simon Perreault ◽  
Harmanpreet Bassan ◽  
Rajni V. Patel
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Sensory Substitution ◽  
Haptic Interfaces ◽  
Test Bed ◽  
Haptic Information ◽  
Dual Arm

This paper describes a dual-arm teleoperation (master-slave) system which has been developed to explore the effect of haptics in robotics-assisted minimally invasive surgery (RAMIS). This setup is capable of measuring forces in 7 degrees of freedom (DOF) and fully reflecting them to the operator through two 7-DOF haptic interfaces. An application of the test bed is in enabling the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution). This paper discusses the design rationale, kinematic analysis and dynamic modeling of the robot manipulators, and the control system developed for the setup. Using the accurate model developed in this paper, a highly transparent haptics-enabled system can be achieved and used in robot-assisted telesurgery. Validation results obtained through experiments are presented and demonstrate the correctness and effectiveness of the developed models. The application of the setup for two RAMIS surgical tasks, a suture manipulation task and a tumor localization task, is described with different haptics modalities available through the developed haptics-enabled system for each application.

Biomedical Robotics for Healthcare

2012 ◽  
pp. 160-169
Author(s):  
Yuichi Kurita ◽  
Atsutoshi Ikeda ◽  
Kazuyuki Nagata ◽  
Masazumi Okajima ◽  
Tsukasa Ogasawara
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Haptic Feedback ◽  
Training System ◽  
Haptic Information ◽  
General Surgery Residency ◽  
Related Information ◽  
Biomedical Robotics ◽  
Primary Obstacle

Haptic information is crucial in the execution of precise and dexterous manipulations. During minimally invasive surgery, medical doctors are required to indirectly sense force-related information from body organ tissue via forceps because they cannot directly touch the tissue. The evaluation of force-based skill is critical in the judgment of whether a person has adequate manipulation skills to conduct surgery procedures. Currently, simulation training in minimally invasive surgery is a required component of general surgery residency training. A primary obstacle in the development of a training simulator with a haptic feedback capability is its high cost. This chapter addresses two research issues that must be integrated in the development of a cost-effective haptic training system: the challenge of skill evaluation during laparoscopic surgery by measuring the force applied to forceps, and a novel haptic display based on a haptic augmented reality (AR) technique.

scholarly journals Sensorless Force Sensing for Minimally Invasive Surgery

2015 ◽  
Vol 9 (4) ◽  
Author(s):  
Baoliang Zhao ◽  
Carl A. Nelson
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Haptic Feedback ◽  
Estimation Method ◽  
Tissue Reaction ◽  
Limiting Factor ◽  
Haptic Interfaces ◽  
Force Estimation ◽  
Reaction Forces

Robotic minimally invasive surgery (R-MIS) has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool–tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.

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

2012 ◽  
Vol 6 (2) ◽  
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.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

Conference Reports

Robotica ◽  
1998 ◽  
Vol 16 (4) ◽  
pp. 477-478
Author(s):  
Susan J. Lederman ◽  
Robert D. Howe
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Virtual Environments ◽  
Invasive Surgery ◽  
Architectural Design ◽  
Space Exploration ◽  
Haptic Interfaces ◽  
Annual Symposium ◽  
Human Machine Interaction ◽  
Machine Interaction

SIXTH ANNUAL SYMPOSIUM ON HAPTIC INTERFACESThe Sixth Annual Symposium for Haptic Interfaces for Virtual Environment and Teleoperator Systems was held on Nov. 17–18, 1997 in Dallas, Texas. Haptic interfaces are devices that allow human–machine interaction through force and touch. Areas of application include, but are by no means limited, to telemanipulation (for work in hazardous or challenging environments such as space exploration, undersea operations, microsurgery and minimally-invasive surgery, and hazardous waste clean-up) and virtual environments (for realistic interactions with computer simulations in critical procedure training, architectural design, product prototyping, and data visualization).

Robotic colorectal surgery: Where are we right now?

2010 ◽  
Vol 224 (7) ◽  
pp. 1415-1419 ◽  
Author(s):  
J Kang ◽  
K Y Lee
Keyword(s):  
Minimally Invasive Surgery ◽  
Robotic Surgery ◽  
Colorectal Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Colorectal Disease ◽  
Widespread Application ◽  
Robotic Colorectal Surgery

Minimally invasive surgery has become mainstream in surgical management of colorectal disease. Based on evidence of oncologic safety and benefit to patients, laparoscopic colorectal surgery is regarded as a successful alternative to open surgery. Since the introduction of the da Vinci® system as another tool for minimally invasive surgery, there have been several reports regarding the feasibility and safety of the system. The authors looked at their experience with 412 robotic colorectal surgeries and found that it was feasible and safe. Incidence of operation-related morbidity was around 11 per cent and system-related problems were 2.4 per cent. There was no operation-related or system-related mortality. From a technological perspective, robotic surgery has several advantages over laparoscopic surgery, including a magnifying view with a three-dimensional image, a stable camera platform, and instruments with Endowrist® technology that allow for seven degrees of freedom of movement. However, there is still room for improvement. The revolution of robotic technology can aid in the realization of a dream: a smaller, cheaper, and more sophisticated robotic system, which will further facilitate the widespread application of robotic surgery to colorectal disease.

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