skip to main content
10.1145/3366194.3366292acmotherconferencesArticle/Chapter ViewAbstractPublication PagesricaiConference Proceedingsconference-collections
research-article

Construction of a Teleoperational Interventional Surgery Robot System

Published: 20 September 2019 Publication History

Abstract

A remote human-machine collaboration for the positioning arm for interventional operation is proposed. The existing research orientation of the arm is combined for further study. 1) Operator's end position is detected based on the determined position and posture of the target, and the position and posture mapping mechanism between the operator and the end effector of the arm is researched based on the virtual motion prediction. 2) The strategy of telepresence is realized based on the bidirectional force mapping between the operator and the positioning arm. 3) The mechanism of man-machine cooperative control and safety control mechanism of the precise positioning of the arm is studied. 4) The recognition, tracking, force feedback and other verification and evaluation work of the robotic arm positioning process based on remote motion following is completed. The key problem is the realization of the telepresence of telecontrol and teleoperation of the interventional operation positioning arm, and bi-directional perception of human in the loop. Remote precise positioning of the arm based on human action recognition, action following and force telepresence based on operational force detection and collision force feedback is implemented. The research work is directly satisfied with the clinical needs.

References

[1]
D Sachs, R Capobianco(2013). Minimally Invasive Sacroiliac Joint Fusion: One-Year Outcomes in 40 Patients[J]. Advances in Orthopedics, (1):536128.
[2]
Kawashima K, Kanno T, Tadano K (2019). Robots in laparoscopic surgery: current and future status[J]. BMC Biomedical Engineering, 1(1):12.
[3]
Avgousti S, Christoforou E G, Panayides A S, et al (2016). Medical telerobotic systems: current status and future trends[J]. BioMedical Engineering OnLine, 15(1):96.
[4]
S. X. Guo, N. Xiao, B. F. Gao (2012). Internet Based Remote Control for a Robotic Catheter Manipulating System. Proceedings of the 2012 ICME International Conference on Complex Medical Engineering, Japan, 540--544.
[5]
K.R. Kim, H.S. Song, H.S. Yim, S.H. Lung (2013). Development of the Multifunctional End-Effector for Interventional Surgery Robot, International Conference on Control, Automation and Systems, Korea, 86--91.
[6]
C.J. Payne, R.T. Hedyeh, H.J. Marcus, G.Z. Yang (2014). Hand-Held Microsurgical Forceps with Force-Feedback for Micromanipulation, IEEE International Conference on Robotics & Automation, Hong Kong Convention and Exhibition Center, China, 284--289.
[7]
S.C. Ryu, Z.F. Quek, J.S. Koh, et al (2015). Design of an Optically Controlled MR-Compatible Active Needle, IEEE Transactions on Robotics, 31(1): 1--11.
[8]
H Liu (2010).Establisment of Robotic Catheter System and Study on it KeyTechnologies. Ph.D. Thesis, Harbin Institute of Technology.
[9]
D Liu(2003). Research on Key Technologies of Minimally Invasive Surgical Robot, Ph.D. Thesis, Beihang University.
[10]
S. A. Ali (2014). Haptic Force Feedback during Robotic Surgery, Ph.D. Thesis, Beijing Institute of Technology.
[11]
X. L. Xie (2011). A Minimally Invasive Surgical Robot for Vascular Interventions: Design and Interactive Control, Ph.D. Thesis, University of Chinese Academy of Sciences,.
[12]
X. Yang, H. B. Wang, L. Sun and H. N. Yu (2015). Operation and Force Analysis of the Guide Wire in a Minimally Invasive Vascular Interventional Surgery Robot System. Chinese Journal of Mechanical Engineering, 28(2): 249--257.
[13]
Watanabe K, et al (2018). Single master dual slave surgical robot with automated relay of suture needle. IEEE Trans Ind Electron. 65(8):6343--51.
[14]
Daiana M, Marescaux J (2015). Robotic Sugery. Br J Surg. 102(2):e15--28.
[15]
Li H. et al (2018)., Operator dynamics for stability condition in haptic and teleoperation system: a survey, the international journal of medical robotics and computer assisted surgery, 14(2): e1881.
[16]
G-Z Yang, et al (2017). Medical robotics---regulatory, ethical, and legal considerations for increasing levels of autonomy. Science Robotics. 2:1--2

Index Terms

  1. Construction of a Teleoperational Interventional Surgery Robot System

    Recommendations

    Comments

    Information & Contributors

    Information

    Published In

    cover image ACM Other conferences
    RICAI '19: Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence
    September 2019
    803 pages
    ISBN:9781450372985
    DOI:10.1145/3366194
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

    Publisher

    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 20 September 2019

    Permissions

    Request permissions for this article.

    Check for updates

    Author Tags

    1. Ketwords
    2. human-robot interaction
    3. master-slave mapping
    4. positioning arm
    5. teleoperation
    6. telepresence

    Qualifiers

    • Research-article
    • Research
    • Refereed limited

    Conference

    RICAI 2019

    Acceptance Rates

    RICAI '19 Paper Acceptance Rate 140 of 294 submissions, 48%;
    Overall Acceptance Rate 140 of 294 submissions, 48%

    Contributors

    Other Metrics

    Bibliometrics & Citations

    Bibliometrics

    Article Metrics

    • 0
      Total Citations
    • 102
      Total Downloads
    • Downloads (Last 12 months)4
    • Downloads (Last 6 weeks)1
    Reflects downloads up to 17 Jan 2025

    Other Metrics

    Citations

    View Options

    Login options

    View options

    PDF

    View or Download as a PDF file.

    PDF

    eReader

    View online with eReader.

    eReader

    Media

    Figures

    Other

    Tables

    Share

    Share

    Share this Publication link

    Share on social media