Repulsive force control of minimally invasive surgery robot associated with three degrees of freedom electrorheological fluid-based haptic master

2013 ◽  
Vol 228 (9) ◽  
pp. 1606-1621 ◽  
Author(s):  
Sang-Rock Lee ◽  
Chang-Ho Uhm ◽  
Min-Sang Seong ◽  
Jong-Seok Oh ◽  
Seung-Bok Choi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Electrorheological Fluid ◽  
Repulsive Force ◽  
Superior Performance ◽  
Robot Assisted ◽  
Three Degrees Of Freedom

This paper presents a repulsive force feedback control in a haptic master–slave robot-assisted system for robot minimally invasive surgery. In general, the haptic master can provide position and force information for superior performance and reliability in master–slave robot-assisted interventions for a surgeon. In order to realize this potential, in this work three degrees of freedom electrorheological haptic master is adopted and associated with a four degrees of freedom slave robot. The haptic master featuring controllable electrorheological fluid is featured by a spherical joint mechanism and the slave robot is controlled by servomotors. After designing a user interface that is capable of providing force feedback in all the degrees of freedom available during robot minimally invasive surgery, the dynamic model of the haptic master is analyzed and the model parameters are identified to evaluate control performance of the haptic master on skin- and cancer-like tissues (palpation). Subsequently, the haptic architecture for robot minimally invasive surgery is established and experimentally implemented so that the reflection force for the object of the slave robot and the desired position for the master operator are transferred to each other. In order to demonstrate the effectiveness of the proposed system, repulsive force tracking control performances are evaluated and presented in time domain.

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.

Real-Time 2D Surface Profile Mapping of Biological Tissue with Force Feedback in Robot-Assisted Minimally Invasive Surgery

2015 ◽  
Vol 798 ◽  
pp. 319-323
Author(s):  
Ali Reza Hassan Beiglou ◽  
Javad Dargahi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Strain Gauge ◽  
Force Feedback ◽  
Surface Profile ◽  
Robot Assisted ◽  
Contact Points ◽  
Force Signal

It has been more than 20 years that robot-assisted minimally invasive surgery (RMIS) has brought remarkable accuracy and dexterity for surgeons along with the decreasing trauma for the patients. In this paper a novel method of the tissue’s surface profile mapping is proposed. The tissue surface profile plays an important role for material identification during RMIS. It is shown how by integrating the force feedback into robot controller the surface profile of the tissue can be obtained with force feedback scanning. The experiment setup includes a 5 degree of freedoms (DOFs) robot which is equipped with a strain-gauge ball caster as the force feedback. Robot joint encoders signals and the captured force signal of the strain-gauge are transferred to developed surface transformation algorithm (STA). The real-time geometrical transformation process is triggered with force signal to identify contact points between the ball caster and the artificial tissue. The 2D surface profile of tissue will be mapped based on these contact points. Real-time capability of the proposed system is evaluated experimentally for the artifical tissues in a designed test rig.

Miniature 6-axis force/torque sensor for force feedback in robot-assisted minimally invasive surgery

2015 ◽  
Vol 22 (12) ◽  
pp. 4566-4577 ◽  
Author(s):  
Kun Li ◽  
Bo Pan ◽  
Wen-peng Gao ◽  
Hai-bo Feng ◽  
Yi-li Fu ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Torque Sensor ◽  
Robot Assisted

scholarly journals A New Tactile Transfer Cell Using Magnetorheological Materials for Robot-Assisted Minimally Invasive Surgery

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 3034
Author(s):  
Yu-Jin Park ◽  
Seung-Bok Choi
Keyword(s):  
Magnetic Field ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Repulsive Force ◽  
Transfer Cell ◽  
Robot Assisted ◽  
Human Organs ◽  
Field Dependent ◽  
The Magnetic Field

This paper proposes a new type of tactile transfer cell which can be effectively applied to robot-assisted minimally invasive surgery (RMIS). The proposed tactile device is manufactured from two smart materials, a magnetorheological fluid (MRF) and a magnetorheological elastomer (MRE), whose viscoelastic properties are controllable by an external magnetic field. Thus, it can produce field-dependent repulsive forces which are equivalent to several human organs (or tissues) such as a heart. As a first step, an appropriate tactile sample is made using both MRF and MRE associated with porous foam. Then, the microstructures of these materials taken from Scanning Electron Microscope (SEM) images are presented, showing the particle distribution with and without the magnetic field. Subsequently, the field-dependent repulsive force of the sample, which is equivalent to the stress relaxation property of viscoelastic materials, are measured at several compressive deformation depths. Then, the measured values are compared with the calculated values obtained from Young’s modulus of human tissue data via the finite element method. It is identified from this comparison that the proposed tactile transfer cell can mimic the repulsive force (or hardness) of several human organs. This directly indicates that the proposed MR materials-based tactile transfer cell (MRTTC in short) can be effectively applied to RMIS in which the surgeon can feel the strength or softness of the human organ by just changing the magnetic field intensity. In this work, to reflect a more practical feasibility, a psychophysical test is also carried out using 20 volunteers, and the results are analyzed, presenting the standard deviation.

scholarly journals Toward Teaching by Demonstration for Robot-Assisted Minimally Invasive Surgery

2021 ◽  
pp. 1-11
Author(s):  
Hang Su ◽  
Andrea Mariani ◽  
Salih Ertug Ovur ◽  
Arianna Menciassi ◽  
Giancarlo Ferrigno ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robot Assisted ◽  
Teaching By Demonstration

Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery

2021 ◽  
pp. 014233122098435
Author(s):  
Wen Qi ◽  
Hang Su ◽  
Ke Fan ◽  
Ziyang Chen ◽  
Jiehao Li ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Data Fusion ◽  
Invasive Surgery ◽  
Robot Control ◽  
Surgical Robot ◽  
Robot Assisted ◽  
Multimodal Data ◽  
Multimodal Data Fusion ◽  
Fusion Framework

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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