Review of comanipulation robot in surgery

Zhan, Yi; Duan, Xingguang; Li, Jian-xi

doi:10.1109/icma.2015.7237701

Cited by 8 publications

(5 citation statements)

References 33 publications

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“…Figure 2 provides an overview of the haptic guidance system that has been developed. The guidance scheme follows a ‘comanipulation’ paradigm [34]. The surgical instrument is attached to a haptic manipulator.…”

Section: Methodsmentioning

confidence: 99%

Haptic Guidance Based on All-Optical Ultrasound Distance Sensing for Safer Minimally Invasive Fetal Surgery

Gruijthuijsen

Colchester

Devreker

et al. 2018

J. Med. Robot. Res.

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By intervening during the early stage of gestation, fetal surgeons aim to correct or minimize the effects of congenital disorders. As compared to postnatal treatment of these disorders, such early interventions can often actually save the life of the fetus and also improve the quality of life of the newborn. However, fetal surgery is considered one of the most challenging disciplines within Minimally Invasive Surgery (MIS), owing to factors such as the fragility of the anatomic features, poor visibility, limited manoeuvrability, and extreme requirements in terms of instrument handling with precise positioning. This work is centered on a fetal laser surgery procedure treating placental disorders. It proposes the use of haptic guidance to enhance the overall safety of this procedure and to simplify instrument handling. A method is described that provides effective guidance by installing a forbidden region virtual fixture over the placenta, thereby safeguarding adequate clearance between the instrument tip and the placenta. With a novel application of all-optical ultrasound distance sensing in which transmission and reception are performed with fibre optics, this method can be used with a sole reliance on intraoperatively acquired data. The added value of the guidance approach, in terms of safety and performance, is demonstrated in a series of experiments with a robotic platform.

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Section: Methodsmentioning

confidence: 99%

Haptic Guidance Based on All-Optical Ultrasound Distance Sensing for Safer Minimally Invasive Fetal Surgery

Gruijthuijsen

Colchester

Devreker

et al. 2018

J. Med. Robot. Res.

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“…With comanipulation, both surgeon and robot hold the instrument and combine their effort to manipulate it in a certain direction. It is seen as the most simple and intuitive way to control instruments as it provides a familiar way of operating and maintains haptic feedback [44], [45]. However, it forces the surgeon to release a handheld instrument and reach for the endoscope, which interrupts the surgical task.…”

Section: B Robot-assisted Surgerymentioning

confidence: 99%

Multimodal Robot-Assisted Instrument Interaction for Solo Laparoscopic Sacrocolpopexy

Smet

Page

Vörös

et al. 2023

IEEE Trans. Med. Robot. Bionics

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Laparoscopic sacrocolpopexy (LSC) involves at least three clinicians who are required to operate under non-ergonomic postures for long periods of time. Furthermore, LSC is characterized by miscommunication and high vaginal vault manipulation forces which possibly lead to overtensioning of tissue.This work presents a multimodal robotic assistance approach for solo LSC. Multimodality provides a set of instrument interaction modes that allows the surgeon to operate in close vicinity with the patient. It increases situational awareness and avoids miscommunication while ensuring safe vaginal vault exposure.The robotic setup is experimentally validated by ten gynecologists who performed a vaginal mesh fixation task on a box trainer. When compared to manual surgery, it was found that robotic assistance allows the solo surgeon to operate as fast (24.07 ± 1.63 min vs. 23.75 ± 1.54 min, p = 0.49) and with lower peak forces (12.23 ± 3.03 N vs. 9.26 ± 1.41 N, p = 0.02) applied to the vaginal vault.The results are promising as they show that the multimodal approach allows for robot-assisted solo surgery. This way, it frees clinicians from non-ergonomic tasks while maintaining similar surgery times and quality. Moreover, it reduces the risk of overtensioning of the vaginal tissue.

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“…Another classical strategy to control the motion of aforementioned robotic system is comanipulation. Such a technique has been widely used in the surgical domain to accomplish a variety of tasks ( Zhan et al, 2015 ). In this work, we have implemented a comanipulation scheme on our robotic system using an external 6-DoF Force/Torque (F/T) sensor.…”

Section: Shared Controllersmentioning

confidence: 99%

Shared Control Schemes for Middle Ear Surgery

Sobucki

Szewczyk

et al. 2022

Front. Robot. AI

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This paper deals with the control of a redundant cobot arm to accomplish peg-in-hole insertion tasks in the context of middle ear surgery. It mainly focuses on the development of two shared control laws that combine local measurements provided by position or force sensors with the globally observed visual information. We first investigate the two classical and well-established control modes, i.e., a position-based end-frame tele-operation controller and a comanipulation controller. Based on these two control architectures, we then propose a combination of visual feedback and position/force-based inputs in the same control scheme. In contrast to the conventional control designs where all degrees of freedom (DoF) are equally controlled, the proposed shared controllers allow teleoperation of linear/translational DoFs while the rotational ones are simultaneously handled by a vision-based controller. Such controllers reduce the task complexity, e.g., a complex peg-in-hole task is simplified for the operator to basic translations in the space where tool orientations are automatically controlled. Various experiments are conducted, using a 7-DoF robot arm equipped with a force/torque sensor and a camera, validating the proposed controllers in the context of simulating a minimally invasive surgical procedure. The obtained results in terms of accuracy, ergonomics and rapidity are discussed in this paper.

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Review of comanipulation robot in surgery

Cited by 8 publications

References 33 publications

Haptic Guidance Based on All-Optical Ultrasound Distance Sensing for Safer Minimally Invasive Fetal Surgery

Haptic Guidance Based on All-Optical Ultrasound Distance Sensing for Safer Minimally Invasive Fetal Surgery

Multimodal Robot-Assisted Instrument Interaction for Solo Laparoscopic Sacrocolpopexy

Shared Control Schemes for Middle Ear Surgery

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