&lt;title&gt;Development of a new high-dexterity manipulator for robot-assisted microsurgery&lt;/title&gt;

The International Journal of Robotics Research

Jensen

Whitcomb

et al. 1999

446

149

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.

Section: Robotically Assisted Micromanipulationmentioning

confidence: 99%

A Steady-Hand Robotic System for Microsurgical Augmentation

The International Journal of Robotics Research

Jensen

Whitcomb

et al. 1999

446

149

“…Many microsurgical devices [2,6,7,9,10] are based on force-reflecting masterslave configurations. This paradigm allows an operator to grasp the master manipulator and apply forces.…”

Section: Robotically Assisted Micro-manipulationmentioning

confidence: 99%

“…Mechanical systems have been developed which extend the capability of human operators using telerobotic principles [1] including virtual training [2], manipulation of objects in hazardous environments [3], remote surgery [4,5], and microsurgery [2,[6][7][8][9][10]. In general, telerobotic devices rely on an operator commanding the motion of a robot using a secondary input device.…”

Section: Robotically Assisted Micro-manipulationmentioning

confidence: 99%

A Steady-Hand Robotic System for Microsurgical Augmentation

Medical Image Computing and Computer-Assisted Intervention – MICCAI’99

Jensen

Whitcomb

et al. 1999

166

151

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 judgement, 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 handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.

“…Examples of surgical assistant systems can be seen in laparoscopic surgery [1,2,3,4,5], microsurgery [6,7,8], orthopedic surgery [9] and sinus surgery [10]. The Intuitive daVinci robotic surgical system [3] and the Computer Motion Zeus robotic surgical system [4] are two commercialized surgical telemanipulators which are capable of performing remote telerobotic laparoscopic surgery.…”

Section: Introductionmentioning

confidence: 99%

“…The Intuitive daVinci robotic surgical system [3] and the Computer Motion Zeus robotic surgical system [4] are two commercialized surgical telemanipulators which are capable of performing remote telerobotic laparoscopic surgery. Although most of the teleoperated systems are admittance-controlled microsurgical robots ( [6,11,12,13,14]), based on force-reflecting master-slave configurations, some of the teleoperated robotic augmentation systems employ a passive input device for operator control [7], while others are joystick controlled [10].…”

Section: Introductionmentioning

confidence: 99%

Telerobotic Control by Virtual Fixtures for Surgical Applications

Kapoor

Springer Tracts in Advanced Robotics

Summary. We present a new method to generate spatial motion constraints for surgical robots that provide sophisticated ways to assist the surgeon. Surgical robotic assistant systems are human-machine collaborative systems (HMCS) that work interactively with surgeons by augmenting their ability to manipulate surgical instruments in carrying out a variety of surgical tasks. The goal of "virtual fixtures" (VF) is to provide anisotropic motion behavior to the surgeon's motion command and to filter out tremor to enhance precision and stability. Our method uses a weighted, linearized, multi-objective optimization framework to formalize a library of virtual fixtures for task primitives. We set the objective function based on user input that can be obtained through a force sensor, joystick or a master robot. We set the linearized subject function based on five basic geometric constraints. The strength of this approach is that it is extensible to include additional constraints such as collision avoidance, anatomybased constraints and joint limits, by using an instantaneous kinematic relationship between the task variables and robot joints. We illustrate our approach using three surgical tasks: percutaneous needle insertion, femur cutting for prosthetic implant and suturing. For the percutaneous procedures we provide a remote center of motion (RCM) point that provides an isocentric motion that is fundamental to these types of procedures. For femur cutting procedures we provide assistance by maintaining proper tool orientation and position. For the suturing task we address the problem of stitching in endoscopic surgery using a circular needle. We show that with help of VF, suturing can be performed at awkward angles without multiple trials, thus avoiding damage to tissue.