Abstract
Purpose
We propose a tele-operated transurethral robotic system with programmable motion constraint for tissue resection.
Methods
The system consists of a surgeon console with an interaction device, a 7-degree-of-freedom manipulator, and a surgical end-effector. The surgical end-effector holds a resectoscope with a motor driven mechanism to perform electrocautery. Instrumental motion with remote center-of-motion (RCM) constraint is important for transurethral procedures since the damage to the healthy structures can be minimized. A screw theory-based programmable RCM generator is proposed to map the inputs of the interaction device to the RCM manifold in the manipulator space. To achieve smooth real-time manipulator following control with RCM constraint, an online trajectory planner is presented.
Results
Experiments were performed to evaluate the motion precision and accuracy. The results show that both the RCM precision and accuracy were less than 1 mm. Ex-vivo experiments of robotic resection of soft tissue were also carried out. The results show that our robotic system could achieve instrumental manipulation and delicate cutting under the real-time control of a surgeon.
Conclusions
Our robotic system could assist surgeons in performing transurethral procedures in a remote manner with potential advantages of being accurate, less laborious and clean.
Similar content being viewed by others
References
Davies BL, Hibberd RD (1993) Robotic surgery at imperial college london. In: Proceedings of IEEE systems man and cybernetics conference - SMC, vol 3. pp 176–1813
Mei Q, Harris SJ, Arambula-Cosio F, Nathan MS, Hibberd RD, Wickham JEA, Davies BL (1996) Probot- a computer integrated prostatectomy system. Visualization in biomedical computing. Springer, Berlin, Heidelberg, pp 581–590
Mei Q, Harris SJ, Hibberd RD, Wickham JEA, Davies BL (1999) Optimising operation process for computer integrated prostatectomy. In: Taylor C, Colchester A (eds) MICCAI’99. Springer, Berlin, Heidelberg, pp 1042–1051
de Badajoz S (2002) New master arm for transurethral resection with a robot. Arch Esp Urol 55(10):1247–50
Wang J, Zhao J, Ji X, Zhang X, Li H (2019) A surgical robotic system for transurethral resection. In: Lhotska L, Sukupova L, Lacković I, Ibbott GS (eds) World congress on medical physics and biomedical engineering 2018. Springer, Singapore, pp 711–716
Su H, Yang C, Ferrigno G, De Momi E (2019) Improved human-robot collaborative control of redundant robot for teleoperated minimally invasive surgery. IEEE Robot Autom Lett 4(2):1447–1453
Goldman RE, Bajo A, MacLachlan LS, Pickens R, Herrell SD, Simaan N (2013) Design and performance evaluation of a minimally invasive telerobotic platform for transurethral surveillance and intervention. IEEE Trans Biomed Eng 60(4):918–925
Pickens RB, Bajo A, Simaan N, Herrell D (2015) A pilot ex vivo evaluation of a telerobotic system for transurethral intervention and surveillance. J Endourol 29(2):231–234
Hendrick RJ, Herrell SD, Webster RJ (2014) A multi-arm hand-held robotic system for transurethral laser prostate surgery. In: 2014 IEEE international conference on robotics and automation (ICRA), pp 2850–2855 (2014)
Hendrick RJ, Mitchell CR, Herrell SD, Robert J, Webster I (2015) Hand-held transendoscopic robotic manipulators: a transurethral laser prostate surgery case study. The Int J Robot Res 34(13):1559–1572 (PMID: 27570361)
Mitchell CR, Hendrick RJ, Webster RJ, Herrell SD (2016) Toward improving transurethral prostate surgery: development and initial experiments with a prototype concentric tube robotic platform. J Endourol 30(6):692–696
Russo S, Dario P, Menciassi A (2015) A novel robotic platform for laser-assisted transurethral surgery of the prostate. IEEE Trans Biomed Eng 62(2):489–500
Sarli N, Giudice GD, De S, Dietrich MS, Herrell SD, Simaan N (2019) Turbot: a system for robot-assisted transurethral bladder tumor resection. IEEE/ASME Trans Mechatron 24(4):1452–1463
Faria C, Ferreira F, Erlhagen W, Monteiro S, Bicho E (2018) Position-based kinematics for 7-dof serial manipulators with global configuration control, joint limit and singularity avoidance. Mech Mach Theory 121:317–334
Wang J, Lu C, Zhang Y, Sun Z, Shen Y (2022) A numerically stable algorithm for analytic inverse kinematics of 7-degrees-of-freedom spherical-rotational-spherical manipulators with joint limit avoidance. J Mech Robot 10(1115/1):4053375
Funding
This work was supported by National Natural Science Foundation of China (Grant No. 62173014) and Beijing Municipal Science and Technology Project (Grant No. Z191100007619044).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interests
The authors have no competing interests to declare that are relevant to the content of this article.
Ethical approval
No animal experiments, human participants, their data or biological materials were involved in this research.
Informed consent
No animals or humans were involved in this research.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Supplementary Information
Below is the link to the electronic supplementary material.
Supplementary file 1 (mp4 45565 KB)
Rights and permissions
About this article
Cite this article
Sun, Z., Wang, T., Lu, C. et al. Robotic system with programmable motion constraint for transurethral resection. Int J CARS 17, 895–902 (2022). https://doi.org/10.1007/s11548-022-02628-w
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11548-022-02628-w