A Fully Sensorized Cooperative Robotic System for Surgical Interventions

Abstract

Abstract:In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements.

An overview of systems for CT‐ and MRI‐guided percutaneous needle placement in the thorax and abdomen

“…Navigation and tracking systems. (a) Stryker (7) optical navigation system, adapted from (8). (b) ActiViews (9) CT guide, adapted from (10).…”

Performance of Robotic Assistance for Skull Base Biopsy: A Phantom Study

“…1,26,28 Any component of the system can contribute to the whole systematic error; problems may arise from image distortion, target displacement due to tissue deformation or unexpected movement, registration error, optical localizer error, the limitations of the control and compensation algorithm, inherent kinematic limitation, needle deflection, and human error. 18,22,28 Although it is difficult to separate the contribution of each component, needle deflection is primarily responsible for needle displacement in previous studies. 2,19,23,24 The option of correcting needle deflection is to create a model for theoretically estimating needle-tissue interaction so that compensation can be made in advance (during planning).…”

“…3 Imaging data can be integrated with an accurate prediction of needle-tissue interaction for precise needle placement in robotic procedures. 18 Various imaging modalities, including CT/fluoroscopy, 2,7,8,19,[21][22][23][24][25][26][27] MRI, 28,29 ultrasound (US), 30,31 and CBCT, 32 have been used in combination with different robot systems. Along with CT fluoroscopy, intraoperative MRI, and the US, optical navigation is also now an important tracking system for real-time guidance.…”

“…Accuracy and safety depend on the uninterrupted update of position data acquired by optical tracking, which provides accurate vision feedback and closed-loop control. A faster data acquisition frequency has been advised, 22 but is not yet available for this optical localizer, which is the main hurdle to increasing intervention speed.…”

Robotic System Development for Cooperative Orthopedic Drilling Assistance

“…The use of multiple cooperative robots in orthopedic drilling was not found in those literatures; besides some general surgical cooperative robots were found. Tovar-Arriaga et al [9] carried out a research on fully sensorized cooperative robotic system for normal surgical interventions (except for bone and brain) consisting of a DLR/KUKA Light Weight Robot III, a FD-CT robot-driven angiographic C-arm, and a navigation camera. The research main focus was on sensor technology due to the system's heavy dependency on the information coming from different sensors.…”