Comparison of Pose Correspondence Methods of Master-Slave Manipulators for Neurosurgical Robotic Systems

2011 ◽  
Vol 5 (5) ◽  
pp. 738-745
Author(s):  
Tsubasa Yonemura ◽  
◽  
Yasuhide Kozuka ◽  
Young Min Baek ◽  
Naohiko Sugita ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Singular Point ◽  
Robotic System ◽  
Surgical Instruments ◽  
Small Hole ◽  
Robotic Systems ◽  
Point Problem ◽  
Trade Off ◽  
Time Length ◽  
Micro Surgery

Performing microsurgery in the field of neurosurgery is very challenging because neurosurgeons have to suture fine vessels by maneuvering long, thin surgical instruments inserted through a small hole in the skull. In order to assist neurosurgeons, a novel master-slave surgical robotic system has been developed. The objective of the surgical robotic system is to assist neurosurgeons in performing micro surgery in deep surgical fields by providing high dexterity. However, a method of correspondence between master and slave manipulators has not yet been studied, though this is strongly related to the operability and usability of robotic surgery. In this paper, we propose two pose correspondence methods for the master and slave manipulators, axis-based relative pose correspondence and vector-based absolute pose correspondence, and their usability and operability are verified by performing pointing and suturing tasks. The experimental results show that there is a trade-off between the two correspondence methods in terms of time, length of trajectory, and the singular point problem.

AI with robotics in surgery extreme environments

2021 ◽  
pp. 1-10
Author(s):  
Wenji Li ◽  
Lihong Xie ◽  
C.B. Sivaparthipan ◽  
C. Chandru Vignesh
Keyword(s):  
Robotic Surgery ◽  
Human Error ◽  
Simulation Analysis ◽  
Extreme Environments ◽  
Semantic Segmentation ◽  
Robotic System ◽  
Surgical Instruments ◽  
Surgical Robots ◽  
And Control ◽  
Surgical System

Robotic surgery offers surgeons a greater degree of accuracy, versatility, and control than with standard techniques for other kinds of complicated procedures. The robotic surgery technology offers numerous advantages for patients and leads to unforeseen effects that are easier to predict when such a complex interactive device is used for treatment. The challenging complications that are occurred during robotic surgery include, risk of human error while operating the robotic system and the possibility for mechanical failure. The paper proposes Robot Assisted - Remote Center Surgical System (RA-RCSS) to improve mechanical malfunction threat and practical skills of surgeons through intra practice feedback and demonstration from human experts. A mask region-based supervised learning model is trained to conduct semantic segmentation of surgical instruments and targets to improve surgical coordinates further and to facilitate self-oriented practice. Furthermore, the master-slave bilateral technique is integrated with RA-RCSS to analyze the mechanical failures and malfunctions of the robotic system. The emerging safety standard environment is presented as a key enabling factor in the commercialization of autonomous surgical robots. The simulation analysis is performed based on accuracy, security, performance, and cost factor proves the reliability of the proposed framework.

Parallel and sequential structures of manipulators in robotic surgery

2019 ◽  
Vol 485 (2) ◽  
pp. 166-170
Author(s):  
E. I. Veliev ◽  
R. F. Ganiev ◽  
V. A. Glazunov ◽  
G. S. Filippov
Keyword(s):  
Robotic Surgery ◽  
Robotic System ◽  
Parallel Structure ◽  
Manipulation System ◽  
Surgical Manipulation ◽  
Surgical Operations

The problems of modern robotics associated with the requirements for devices designed for various purposes are considered. The daVinci robotic surgical manipulation system is analyzed. The developed robotic system with a parallel structure designed for various kinds of surgical operations is proposed.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

scholarly journals Surgical Audio Guidance: Feasibility Check for Robotic Surgery Procedures

2020 ◽  
Vol 6 (3) ◽  
pp. 571-574
Author(s):  
Anna Schaufler ◽  
Alfredo Illanes ◽  
Ivan Maldonado ◽  
Axel Boese ◽  
Roland Croner ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Haptic Feedback ◽  
Acoustic Emissions ◽  
Surgical Instruments ◽  
Additional Information ◽  
Tissue Interactions ◽  
Haptic Interactions ◽  
Visual Clues ◽  
To Receive ◽  
Expected Signal

AbstractIn robot-assisted procedures, the surgeon controls the surgical instruments from a remote console, while visually monitoring the procedure through the endoscope. There is no haptic feedback available to the surgeon, which impedes the assessment of diseased tissue and the detection of hidden structures beneath the tissue, such as vessels. Only visual clues are available to the surgeon to control the force applied to the tissue by the instruments, which poses a risk for iatrogenic injuries. Additional information on haptic interactions of the employed instruments and the treated tissue that is provided to the surgeon during robotic surgery could compensate for this deficit. Acoustic emissions (AE) from the instrument/tissue interactions, transmitted by the instrument are a potential source of this information. AE can be recorded by audio sensors that do not have to be integrated into the instruments, but that can be modularly attached to the outside of the instruments shaft or enclosure. The location of the sensor on a robotic system is essential for the applicability of the concept in real situations. While the signal strength of the acoustic emissions decreases with distance from the point of interaction, an installation close to the patient would require sterilization measures. The aim of this work is to investigate whether it is feasible to install the audio sensor in non-sterile areas far away from the patient and still be able to receive useful AE signals. To determine whether signals can be recorded at different potential mounting locations, instrument/tissue interactions with different textures were simulated in an experimental setup. The results showed that meaningful and valuable AE can be recorded in the non-sterile area of a robotic surgical system despite the expected signal losses.

Current Robotic Platforms in Surgery and the Road Ahead

2021 ◽  
Author(s):  
Aram Rojas ◽  
Mahir Gachabayov ◽  
Ziad Abouezzi ◽  
Roberto Bergamaschi ◽  
Rifat Latifi
Keyword(s):  
Robotic Surgery ◽  
Laparoscopic Approach ◽  
Robotic Systems ◽  
Future Perspectives ◽  
3D Vision ◽  
The Road ◽  
The Past ◽  
Hospital Systems ◽  
Pros And Cons ◽  
Robotic Platforms

Minimally invasive surgery has rapidly evolved from the once novel laparoscopic approach to advanced robotic surgery. In the past few decades alone, robotic systems have gone from systems which were significantly limited to full-fledged platforms featuring 3D vision, articulated instruments, integrated ultrasound and fluorescence capabilities, and even the latest wireless connectivity, as is now standard. In this review, we aimed to summarize features of currently commercialized and utilized robotic surgical systems as well as currently unfolding platforms. The pros and cons of different robotic surgical systems were discussed. In addition, we discussed the future perspectives of robotic platforms used in general surgery. In this regard, we emphasized that the market, once dominated by Intuitive Surgical Inc., has become occupied by several worthy competitors with new technological giants such as Google. Eventually, the question facing hospital systems will not be of whether or not to invest in robotic surgery, but instead of how they will strike balance between price, features, and availability when choosing robots from the growing market to best equip their surgeons.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 356-378
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

scholarly journals Virtual Pheromone Based Network Flow Control For Modular Robotic Systems

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 481
Author(s):  
Van Tung Le ◽  
Trung Dung Ngo
Keyword(s):  
Flow Control ◽  
Network Flow ◽  
Communication Channel ◽  
Routing Algorithm ◽  
Robotic System ◽  
Robotic Systems ◽  
Application Development ◽  
Gradient Based ◽  
Communication Path

Guaranteeing data transmission between modules is the key for application development of modular robotic systems. In a multi-channel modular robotic system, intersection modules play an essential role of communication channel selection in controlling data flow toward desired destinations. The gradient-based routing algorithm is an ideal solution to create an one-way communication path from any robotic module to a designated destination. To create bi-directional communication for a communication path of robotic configuration, virtual pheromone-based routing algorithm is a promising mechanism for intersection modules due to its simplicity and distributivity. In this paper, we address a virtual pheromone based network flow control based on the integration of gradient and virtual pheromone-based routing algorithms. We validated this method through an education and entertainment application using our newly developed modular robotic system.

scholarly journals Development of an online, patient-centred decision aid for patients with oropharyngeal cancer in the transoral robotic surgery era

2017 ◽  
Vol 24 (5) ◽  
pp. 318 ◽  
Author(s):  
J.S. Lam ◽  
G.M. Scott ◽  
D.A. Palma ◽  
K. Fung ◽  
A.V. Louie
Keyword(s):  
Robotic Surgery ◽  
Oropharyngeal Cancer ◽  
Decision Aid ◽  
Transoral Robotic Surgery ◽  
Oncologic Outcomes ◽  
Patient Treatment ◽  
Promising Alternative ◽  
Trade Off ◽  
Cure Rates ◽  
Adult Volunteers

Background  Radiotherapy (rt) has been the standard treatment for early oropharyngeal cancer, achieving excellent outcomes, but with significant toxicities. Transoral robotic surgery (tors) has emerged as a promising alternative. A decision aid (da) can help to establish patient treatment preferences.Methods A da was developed and piloted in 40 healthy adult volunteers. Assuming equal oncologic outcomes of the treatments, participants indicated their preference. The treatment trade-off point was then established, and participant perceptions were elicited.Results More than 80% of participants initially selected tors for treatment, regardless of facilitator background. For all participants, the treatment trade-off point changed after an average 15% cure benefit. Treatment toxicities, duration, novelty, and perceptions all influenced treatment selection. All subjects valued the da.Conclusions A da developed for early oropharyngeal cancer treatment holds promise in the era of shared decision making. Assuming equal cure rates, tors was preferred over rt by healthy volunteers.

Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

2015 ◽  
Vol 772 ◽  
pp. 318-323 ◽  
Author(s):  
Zdenko Bobovský ◽  
Václav Krys ◽  
Ján Babjak ◽  
Tomáš Kot
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Kinematic Structure ◽  
Future Outlook ◽  
Control Application

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

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