MINARO HD: control and evaluation of a handheld, highly dynamic surgical robot

Vossel, Manuel; Müller, Meiko; Niesche, Annegret; Theisgen, Lukas; Radermacher, Klaus; Fuente, M. de la

doi:10.1007/s11548-020-02306-9

Cited by 3 publications

(5 citation statements)

References 19 publications

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“…With generated ideal user inputs at the master side, mean tracked position error of the minaroHD on the slave side were below 0.12 mm for milling in low-density material ( =240 kg/m 3 ) and 0.28 for milling high-density material ( =1200 kg/m 3 ). Observed tracked position errors at different feed rates are comparable to the motion compensation accuracy reported by Vossel et al [ 13 ]. This indicates that, compared to the control error, milling forces have no apparent effect on the position error for the presented test-setup and the investigated range of milling parameters.…”

Section: Discussionsupporting

confidence: 85%

“…Ideal master-side user inputs without path deviations were generated and sent via a TCP/IP connection to the robot controller on the slave side. An Anspach handpiece (JNJ, New Brunswick, NJ, USA) with a 4 mm ball burr was mounted on the minaroHD miniature robot [ 13 ] and calibrated with an optically tracked calibration plate. For milling, low-density blocks made of SikaBlock M330 (Sika Deutschland GmbH, Bad Urach, Germany) and high-density blocks made of Obomodulan 1200 sahara (OBO-Werke GmbH, Stadthagen, Germany) were used.…”

Section: Methodsmentioning

confidence: 99%

“…The minaroHD is a miniature milling robot that can be used in handheld, hands-on and teleoperated configurations, while autonomously compensating for patient movements of 18 mm/s with an accuracy of 0.5 mm [ 13 ]. The aim of this study is to investigate the effect of milling and haptic guidance parameters on the milling accuracy, specifically regarding master-side input errors and slave-side positioning errors for on-site teleoperated milling with haptic assistance.…”

Section: Introductionmentioning

confidence: 99%

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Accuracy of on-site teleoperated milling with haptic assistance

et al. 2023

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Purpose In bone surgery specialties, like orthopedics, neurosurgery, and oral and maxillofacial surgery patient safety and treatment success depends on the accurate implementation of computer-based surgical plans. Unintentional plan deviations can result in long-term functional damage to the patient. With on-site teleoperation, the surgeon operates a slave robot with a physically-decoupled master device, while being directly present at the operation site. This allows the surgeon to perform surgical tasks with robotic accuracy, while always remaining in the control loop. Methods In this study the master- and slave-side accuracy of an on-site teleoperated miniature cooperative robot (minaroHD) is evaluated. Master-side accuracy is investigated in a user study regarding scale factor, target feed rate, movement direction and haptic guidance stiffness. Scale factors are chosen to correspond to primarily finger, hand, and arm movements. Slave-side accuracy is investigated in autonomous milling trials regarding stepover, feed rate, movement direction, and material density. Results Master-side user input errors increase with increasing target feed rate and scale factor, and decrease with increasing haptic guidance stiffness. Resulting slave-side errors decrease with increasing scale factor and are < 0.07 mm for optimal guidance parameters. Slave-side robot position errors correlate with the feed rate but show little correlation with stepover distance. For optimal milling parameters, the 95th percentile of tracked slave-side position error is 0.086 mm with a maximal error of 0.16 mm. Conclusion For optimal guidance and milling parameters, the combined error of 0.23 mm is in the range of the dura mater thickness (< 0.27 mm) or mandibular canal wall (~ 0.85 mm). This corresponds to safety margins in high-demand surgical procedures like craniotomies, laminectomies, or decortication of the jaw. However, for further clinical translation, the performance and usability of on-site teleoperated milling must be further evaluated for real-life clinical application examples with consideration of all error sources in a computer-assisted surgery workflow.

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Section: Discussionsupporting

confidence: 85%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Accuracy of on-site teleoperated milling with haptic assistance

et al. 2023

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“…A new version of the MINARO HD system (Vossel et al, 2021) with three degrees of freedom is used for these experiments, with a standard high-speed burr (Anspach eG1 High Speed Electric System, DePuy Synthes, Raynham, MA, U.S.) attached as end effector. A passive array is mounted next to the burr adapter for optical tracking with the fusionTrack500 tracking camera (Atracsys LLC, Puidoux, Switzerland).…”

Section: Methodsmentioning

confidence: 99%

“…Direct tool tracking has the advantage that kinematic inaccuracies or robot elasticities can be corrected based on real time robot motion control. Apart from the accuracy of real-time motion compensation based on optical tracking (Vossel et al, 2021), the accuracy of the virtual fixtures highly depends on image acquisition, planning and registration as well as tool calibration.…”

Section: Introductionmentioning

confidence: 99%

Accuracy Evaluation of Image-Based Virtual Fixtures in Robotic Laminectomy

Vossel¹,

Theisgen²,

Radermacher³

et al.

EPiC Series in Health Sciences

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The accuracy of image-based computer assisted orthopedic surgery highly depends on the accuracy of the registration step as well as image acquisition, planning and tool calibration. In this paper the accuracy of those steps is evaluated exemplarily for a robotic laminectomy.A high-resolution test bench was designed to compare the actual location of an object and the position to which the robotic system guides the surgical tool according to the image-based plan.Depending on the distance between the patient reference array and the tool array, average accuracies from 0.14 mm ± 0.17 mm to 0.42 mm ± 0.15 mm with a maximum error of 0.59 mm were measured.This very high accuracy is in the range of the thickness of the spinal dura mater.

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Safe design of surgical robots – a systematic approach to comprehensive hazard identification

Theisgen

Strauch

Klein

et al. 2022

Biomedical Engineering / Biomedizinische Technik

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Objectives Since the 1980s, robotic arms have been transferred from industrial applications to orthopaedic surgical robotics. Adverse events are frequent and often associated with the adopted powerful and oversized anthropomorphic arms. The FDA’s 510(k) pathway encourages building on such systems, leading to the adoption of hazards, which is known as “predicate creep”. Additionally, the methodology of hazard identification for medical device development needs improvement. Methods We present an approach to enhance general hazard identification and prevent hazards of predicate creep by using the integrative, scenario-based and multi-perspective Point-of-View (PoV) approach. We also present the Catalogue of Hazards (CoH) as an approach for collecting and systematising hazards for future risk analysis and robot development. Results We applied seven predefined PoVs to the use case of robotic laminectomy and identified 133 hazards, mainly coming from HMI analysis and literature. By analysing the MAUDE and recalls databases of the FDA, we were able to classify historical hazards and adopt them into the use case. Conclusions The combination of PoV approach and CoH is suitable for integrating multiple established hazard identification methods, increasing comprehensiveness, and supporting the systematic and hazard-based development of surgical robots.

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MINARO HD: control and evaluation of a handheld, highly dynamic surgical robot

Cited by 3 publications

References 19 publications

Accuracy of on-site teleoperated milling with haptic assistance

Accuracy of on-site teleoperated milling with haptic assistance

Accuracy Evaluation of Image-Based Virtual Fixtures in Robotic Laminectomy

Safe design of surgical robots – a systematic approach to comprehensive hazard identification

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