Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

IEEE Robot. Autom. Lett.

Gras

et al. 2018

Self Cite

The real-time teleoperation or telemanipulation of redundant snake-like robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom and a redundant slave robot, typically with n >> 6 degrees of freedom. This paper introduces a snake-like robot for ear, nose and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different control methods were investigated. The methods are compared through simulation with a user study. Each participant performed the same task using each of the six different control methods. Based on the metrics selected, the sparse pseudo-L 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities and overall occupied volume.

Section: Teleoperation Control Methodsmentioning

confidence: 99%

Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Berthet-Rayne

IEEE Robot. Autom. Lett.

Gras

et al. 2018

Self Cite

“…The slave surgical instrument used in conjunction with the master manipulator is part of a robotic surgical system targeted for use in a TEMS operation. Full details of the overall surgical system are described in [2], [3].…”

Section: Manipulator Designmentioning

confidence: 99%

“…In previous work, the authors designed highly articulated surgical instruments with 7 degrees of freedom (DoFs) for single access surgery [2]. An inverse kinematic control scheme [3] was developed to take advantage of the flexibility of the instruments, using two omega.7 devices as master manipulators. However, due to the mismatch between the master and slave workspaces, clutching mechanics had to be implemented, slowing down the user.…”

Section: Introductionmentioning

confidence: 99%

Master manipulator designed for highly articulated robotic instruments in single access surgery

Wisanuvej

Gras

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

et al. 2017

Self Cite

The performance of a master-slave robotic system depends significantly on the ergonomics and the capability of its master device to correctly interface the user with the slave robot. Master manipulators generating commands in task space represent a commonly adopted solution for controlling a range of slave robots while retaining an ergonomic design. However, these devices present several drawbacks, such as requiring the use of clutching mechanics to compensate for the mismatch between slave and master workspaces, and the lack of capability to intuitively transmit important information such as specific joint limits to the user. In this paper, a novel joint-space master manipulator is presented. This manipulator emulates the kinematic structure of highly flexible surgical instruments which it is designed to control. This system uses 6 active degrees of freedom to compensate for its own weight, as well as to provide force feedback corresponding to the slave robot's joint limits. A force/torque sensor integrated at the end effector is used to relay user-generated forces and torques directly to specific joints. This is performed to counteract the friction stemming from structural constraints imposed by the kinematic design of the instruments. Finally, a usability study is carried out to test the validity of the system, proving that the instruments can be intuitively controlled even at the extremities of the workspace.

“…Finally, tendon-driven robots with serial links can generate large forces while providing room for tool channels [14], however, they tend to have elasticity and stretch over time leading to backlash. However, studies on tendon and backlash modeling [15], [16] and mechanical actuation [17] can compensate for these issues. The purpose of this paper is to introduce the design of a novel multi-tool snake-like robot for minimally invasive surgery: the i 2 Snake [18], [19] combining a redundant flexible robotic body and flexible robotic instruments.…”

Section: Introductionmentioning

confidence: 99%

Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots

Berthet-Rayne

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Kim

et al. 2018

Self Cite

The use of snake-like robots for surgery is a popular choice for intra-luminal procedures. In practice, the requirements for strength, flexibility and accuracy are difficult to be satisfied simultaneously. This paper presents a computational approach for optimizing the design of a snake-like robot using serial rolling-joints and tendons as the base architecture. The method optimizes the design in terms of joint angle range and tendon placement to prevent the tendons and joints from colliding during bending motion. The resulting optimized joints were manufactured using 3D printing. The robot was characterized in terms of workspace, dexterity, precision and manipulation forces. The results show a repeatability as low as 0.9 mm and manipulation forces of up to 5.6 N.