ABSTRACT
Minimally invasive surgical procedures using long instruments have profoundly influenced modern surgery by decreasing invasiveness, therefore minimizing patient recovery time and cost. However, surgical procedures using long tools inserted through small ports on the body deprive surgeons of the sense of touch (haptics), depth perception, dexterity, and straightforward hand eye coordination that they are accustomed to in open procedures. While there have been significant advances in almost all of the above areas, haptic feedback systems for robot-assisted surgery are lacking in development. In this paper we present: 1) the development of accurate robot-arm dynamic model (using model-based control) with the goal of minimizing unwanted tool-tissue interaction forces in robot-assisted surgery, 2) the development of an ergonomic 7-DOF haptic feedback system, and 3) the recently developed laparoscopic grasper with force feedback capability attached to the end of the robot arm and controlled by the haptic device.
- M. M. Olsen and H. G. Peterson, "A new method for estimating parameters of a dynamic robot model," IEEE Transactions on Robotics and Automation, vol. 17, pp. 95--100, 2001.Google ScholarCross Ref
- W. K. Yoon, Y. Tsumaki, and M. Uchiyama, "An experimental system for dual-arm robot teleoperation in space with concepts of virtual grip and ball," in Proceedings of International Conference on Advanced Robotics, 1999, pp. 225--230.Google Scholar
- C. W. Kennedy and J. P. Desai, "Modeling and Control of the Mitsubishi PA-10 Robot Arm Harmonic Drive System," IEEE/ASME Transactions on Mechatronics, vol. 10, pp. 263--274, 2005.Google ScholarCross Ref
- T. H. Massie and K. J. Salisbury, "Force reflecting haptic interface," US: Massachusetts Institute of Technology, 1993.Google Scholar
- E. L. Faulring, J. E. Colgate, and M. A. Peshkin, "A High Performance 6-DOF Haptic Cobot," in IEEE International Conference on Robotics and Automation, New Orleans, LA, 2004, pp. 1980--1985.Google Scholar
- K. Kim, W. K. Chung, and Y. Yourn, "Design and Analysis of a New 7-DOF Parallel Type Haptic Device: PATHOS-II," in IEEE International Conference on Intelligent Robots and Systems, Las Vegas, NV, 2003, pp. 2241--2246.Google Scholar
- L. Birglen, C. Gosselin, N. Pouliot, B. Monsarrat, and T. Laliberte, "SHaDe, A New 3-DOF Haptic Device," IEEE Transactions on Robotics and Automation, vol. 18, pp. 166--175, 2002.Google ScholarCross Ref
- J. H. Lee, K. S. Eom, B. J. Yi, and I. H. Suh, "Design of a New 6-DOF Parallel Haptic Device," in IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001, pp. 886--891.Google Scholar
- A. K. Morimoto, R. D. Foral, J. L. Kuhlman, K. A. Zucker, M. J. Curet, R. Bocklage, T. I. MacFarlane, and L. Kory, "Force Sensor for Laparoscopic Babcock," in Medicine Meets Virtual Reality, 1997, pp. 354--361.Google Scholar
- A. Bicchi, G. Canepa, D. DeRossi, P. Iacconi, and E. Scilingo, "A sensor-based minimally invasive surgery tool for detecting tissue elastic properties," in IEEE International Conference on Robotics and Automation, 1996, pp. 884--888.Google ScholarCross Ref
- J. Dargahi, M. Parameswaran, and S. Payandeh, "A Micromachined Piezoelectric Tactile Sensor for an Endoscopic Grasper - Theory, Fabrication and Experiments," Journal of Microelectromechanical Systems, vol. 9, pp. 329--335, September 2000.Google ScholarCross Ref
- S. K. Prasad, M. Kitagawa, G. S. Fischer, J. Zand, M. A. Talamani, R. H. Taylor, and A. M. Okamura, "A modular 2-DOF force-sensing instrument for laparoscopic surgery," in International Conference on Medical Image Computing and Computer Assisted Intervention Montreal, Canada, 2003, pp. 279--286.Google Scholar
- G. S. Fischer, T. Akinbiyi, S. Saha, J. Zand, M. Talamini, M. Marohn, and R. H. Taylor, "Ischemia and force sensing surgical instruments for augmenting available surgeon information," in IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pisa, Italy, 2006, pp. 1030--1035.Google Scholar
- J. Rosen, J. D. Brown, L. Chang, M. Barreca, M. Sinanan, and B. Hannaford, "The BlueDRAGON - A System for Measuring the Kinematics and Dynamics of Minimally Invasive Surgical Tools In-Vivo," in IEEE International Conference on Robotics and Automation, Washington, D.C., 2002, pp. 1876--1881.Google Scholar
- G. Tholey, A. Pillarisetti, and J. P. Desai, "On-Site Three Dimensional Force Sensing Capability in a Laparoscopic Grasper," Industrial Robot, vol. 31, pp. 509--518, 2004.Google ScholarCross Ref
- T. W. Nye and R. P. Kraml, "Harmonic drive gear error: characterization and compensation for precision pointing and tracking," in Proceedings of 25th Aerospace Mechanisms Symposium, 1991, pp. 237--252.Google Scholar
- C. W. Kennedy and J. P. Desai, "Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, 2003.Google Scholar
- G. Tholey, J. P. Desai, and A. E. Castellanos, "Force Feedback plays a sgnificant role in Minimally Invasive Surgery - Results and Analysis," Annals of Surgery, vol. 241, p. 102, January 2005 2004.Google ScholarCross Ref
Recommendations
Preoperative planning for a multi-arm robot-assisted minimally invasive surgery system
The preoperative preparation of robot-assisted minimally invasive surgery is more critical and complicated than traditional minimally invasive surgeries. The crucial issues in preoperative planning are presented and investigated in this paper, in which ...
Computer-based virtual reality simulator for phacoemulsification cataract surgery training
Recent research in virtual reality indicates that computer-based simulators are an effective technology to use for surgeons learning to improve their surgical skills in a controlled environment. This article presents the development of a virtual reality ...
Haptic Feedback in a Telepresence System for Endoscopic Heart Surgery
The implementation of telemanipulator systems for cardiac surgery enabled heart surgeons to perform delicate minimally invasive procedures with high precision under stereoscopic view. At present, commercially available systems do not provide force-...
Comments