A Steady-Hand Robotic System for Microsurgical Augmentation

Abstract

This paper reports the development of a robotic system designed to extend a human's ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgment, sensory integration, and hand-eye coordination. Our novel approach, which we call steady-hand micromanipulation, is for tools to be held simultaneously both by the operator's hand and a specially designed actively controlled robot arm. The robot's controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment.

The future of robotics in hand surgery

“…Lack of proprioceptive feedback has never been an obstacle for most authors [46], even when performing extremely thin and delicate microsurgical anastomoses. This particular problem is the object of numerous researches, which will probably result in the restitution of tactile proprioception via virtual tactile sensors [47].…”

Classification and type synthesis of 1-DOF remote center of motion mechanisms

“…The most familiar RCM mechanisms in applications are based on parallelograms, which can easily compose a 2-DOF RCM mechanism [3,4,9]. Fig.…”

“…Variants of such robots have been developed [3,4], including MINI-RCM&PAKY robot, Steady Hand Robot, etc. In addition, Kim et al [5] designed a 6-DOF MR-compatible RCM manipulator for minimally invasive liver surgery.…”

Microsurgical robotic system for vitreoretinal surgery

“…Many computer-assisted systems have been developed to help with microsurgical procedures. Mitchell et al have developed a steady-hand system [3][4][5]. This system is a handheld device where the surgeons and system share control of the instrument with force sensors.…”