Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

Pillai, Branesh M.; Wilasrusmee, Chumpon; Suthakorn, Jackrit

doi:10.11591/ijece.v10i1.pp828-839

Cited by 6 publications

(12 citation statements)

References 33 publications

(37 reference statements)

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“…The surgeon has to make a large cut in the body for transparency so that he can perform the operation successfully, which may leave scars in the body as a 'symbol of memory'. Fortunately, by the invention of minimally invasive surgery (MIS), surgeries became more safer with limited size and number of cuts or incisions [1]. As MIS is very popular among doctors and patients, researchers have proposed many modifications to improve the technical skills of surgeons [2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

“…Further, the primary surgical tool insertion in MIS requires high precision and micro-level accuracy on the positioning. This role of fine manipulation is limited by tremor and drift in physiology.To overcome all these human functionality limitations, robotic assistance is the best option as it is unaffected by those factors [1,[8][9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

“…In a robotic assisted MIS, there will be the master manipulator used by the surgeon to provide motion commands to the slave who will perform the actual task. The existing manipulators limit the degree of The trouble with a bilateral controlled robotic system is that it results into an unbridled internal configuration [1,14]. It is because it operates via both systems simultaneously and therefore, dynamic systems to be incoperate with the bilateral control system.…”

Section: Introductionmentioning

confidence: 99%

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Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

2021

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Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF Bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

2021

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“…The lowest inertia is preferring to moving part so that a reaction force exert from device is more accuracy. In large footprint such as haptic device for stabilizing a double inverted pendulum use cable-driven to reduce a weight structure [65,66] [67], surgical teleoperation [68,69] and robotic hands [70,71]. In the other field, design a prototype of cabledriven multi stage was developed for mobile surveillance robot which can support various end-effector [72] while a design and consideration of precise cable drive for electro-optical tracking gimbals in [73,74].…”

Section: Introductionmentioning

confidence: 99%

Design of high performance DC motor actuated cable driving system for compact devices

Direkwatana

Suthakorn

2020

IJPEDS

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The cable transmission is widely used in the remote operation or complex geometry with high stiffness and low backlash. Larger drum is required to reduce and error of transmission in long stroke. An error of the desired position occurs due to the fleet angle while cable winding on a drum. Therefore, a new cable driving module which overcomes this problem is proposed. A new cable driving module with a sliding platform is connected to the actuator unit. A motion of the sliding platform is corresponding to a screw rod connected to an actuator. The precision of the driving system is measured by a high-resolution rotatory encoder and high gear ratio actuator. Results are measured by load and error of the system. A load of system shows a performance of overall translation and rotation of the drum at different speeds. An error of the system is measured from forward and reverse direction by increasing and decreasing the number of turns with constant speed. A system has an average load consumption along a long stroke of cable winding which has no significant problem on the screw platform. Multiple turns have low error value in specific and continuous turn in forward and reverse motion. A new cable driving system is proved in precision movement. The fleet angle is eliminated in new mechanism. Along with a constraint motion, there is no significant change in load consumption. An error is low value in a different direction of movement. Hence, a new design of cable transmission can perform in high performance and small size of the system.

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“…Despite these advantages, the procedure is challenged by factors such as narrow surgical pathway [7] and limited working area. Therefore, it requires the expertise of a highlyskilled surgeon [8] in order to prevent the carotid artery, cavernous sinus, and optic nerve from any harm. These factors along with the scarcity of relevant cases hinder the training for the EETS procedure.…”

mentioning

confidence: 99%

The development of a virtual simulator for a novel design surgical tool in endoscopic endonasal transsphenoidal surgery

et al. 2021

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Endoscopic endonasal transsphenoidal surgery (EETS) is a standard procedure to treat the pituitary adenoma, a tumor in the pituitary gland that causes malfunction of hormones. Although the method is substantially minimal invasive, the surgeon may encounter intricacies. The major challenges are narrow surgery pathway, limited working area, lack of case studies for practicing, steep learning curve owing to the intricate steps, and the tool insertion risk. To ease the neurosurgeons, this research focuses on the development and testing of the surgical simulator based on the pathway guidance and the interchangeable surgical instrument tooltip. The system was tested in human cadaver-based experiments with interchangeability in terms of function and the performance of the simulator in terms of the benefits. The experiments demonstrate the augmentation in the learning skill of the user through the simulator based on the completion time assessment and the error reduction. Furthermore, the satisfaction level of the interchangeable surgical tool, which was found using sliding switch and gripper scored 71.40%, the interchangeable tooltip function, which is a novel function to participants scored 85.6% and the practical use had 77%. The geometric aspect of the interchangeable tool scored lowest (62.80%) and was found to be moderate among the neurosurgeons.

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Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

Cited by 6 publications

References 33 publications

Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

Design of high performance DC motor actuated cable driving system for compact devices

The development of a virtual simulator for a novel design surgical tool in endoscopic endonasal transsphenoidal surgery

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