Robotic system to assist SPS_EMBC10_100902

EMBC 2010MS 2. Surgical Robotics – Image-Guided Robotized Surgery

Design of a Surgical Robotwith Dynamic Vision Field Controlfor Single Port Endoscopic Surgery

Yo Kobayashi,Y. Sekiguchi, Y. Tomono, H. Watanabe, M. G. Fujie

Waseda UniversityK. Toyoda, K. Konishi, M. Tomikawa, S. Ieiri, K. Tanoue, M. Hashizume

Kyushu University Hospital

WasedaUniversity

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Outline

Introduction- Single port surgery

Approach- Vision field control- Dual arm intervention

System overview Design of prototype Experiment Summary

WasedaUniversity

Outline

EMBC 2010 1, September, 2010

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Introduction- Single port surgery- Problem : Limitation of vision field- Concept

Dynamic vision field control& Dual arm intervention

Design of prototype Evaluation Summary

WasedaUniversity


4/18Introduction

Single Port Surgery (SPS)

More advanced minimally invasive surgery SPS reduces the number of skin incisions to ONE

• Advantage- Physical damage of patient

• Disadvantage- Difficulty in

tissue manipulation &visual orientation

WasedaUniversity

Introduction

Related works : SPS & NOTES


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J. Ding et al., Columbia University, ICRA’10

B. Bardou et al., University of Strasbourg, EMBC’09

S.J. Phee et al., Nanyang Technological University, EMBC’09

Development of a robotic effectors- Precise tissue manipulation inside patient body

Static positioning of the endoscope and work space- initially inserted and positioned within the surgical workspace

and maintains a motionless state- a manual change of vision field is not intuitive

is a time-consuming task for surgeons

WasedaUniversity

Introduction

Concept & Novelty (cont’d)

EMBC2010 1, September, 2010

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Robotic system with “Dynamic vision field control” - Master-slave function for

manipulation of the robotic arm & control of vision field - Six DOFs only for the dynamic changes of vision field- Different DOFs for dual robotic arms to manipulate effector- A flexible endoscope at the forefront of the manipulator

WasedaUniversity

Introduction

System overview


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Dynamic vision field control manipulator - Six DOFs only for the control of vision field

: change of endoscope view to arbitrary position and orientation- Intuitive change of endoscope view and work space to a target tissue

Dual arm tool manipulator - Precise tissue manipulation

WasedaUniversity

Outline


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Introduction Design of prototype

- Vision field control manipulator( Positioning manipulator & Insertable tool )

- Dual arm tool manipulators In vitro experiment Summary

WasedaUniversity

Design

Vision field control manipulator


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Positioning manipulator

Insertable tool

- Outside the body - One rotation and

two orientationat pivot point for insertable tool

- One translationat pivot point

- Two bending DOF inside patient body

total of six DOFs for positioning of the endoscopeand tool manipulator

WasedaUniversity

Design

Positioning manipulator [Oura et al. BioRob’06]


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1) 2)

- Two gimbals at the tip of the SCARA at the tip of the fixed-bar

- Horizontal motion of the SCARA

1) Two DOF-orientations

2) One DOF for axis of the insertable tool

- Top gimbal can rotate about its own axis by using timing belt

M. Oura, et al., “Development of MRI Compatible Versatile Manipulator for Minimally Invasive Surgery” 2006 IEEE Biomedical Robotics and Biomechatronics, pp.176-181, 2006

WasedaUniversity

Design

Insertable tool (sheath manipulator)


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- Two DOFs for bending motion inside the body

- Spring back bone with a hole in the center of the shaft in order to pass through the power transmission and endoscope

- Wires controls the compression and steering motions

Sheath manipulator

Telescope mechanism : Ball screw mechanism on the drive unit

WasedaUniversity

Design

Tool manipulators [Sekiguchi et al. , BioRob’10]


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- A surgical slave for dual arm interventions - End effectors can be used for various endoscopic instruments

: a gripper and a cautery end-effector for resection task- A flexible endoscope shares a mechanical base with the tool manipulators

- Four DOFs for the prototype: two-bendng DOFs, a one-DOF for rotation around the axis, one- translation

cautery

endoscope

gripperYuta Sekiguchi et al., “Development of a Tool Manipulator Driven by a Flexible Shaft for Single Port Endoscopic Surgery”, in 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics

WasedaUniversity

Outline


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Introduction System overview Design of prototype in vitro experiment

- Method- Result- Discussion

Summary

WasedaUniversity

Evaluation

Method


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Return electrode

ChickenWall

- Objectives : evaluation of the cutting and resection performance

- Setup: breast tissue placed on the metallic table

- Task : cutting the tissue in a wide range over a view from a certain location by the engineers & medical doctors

1) Cut and vision field control : cutting tasks with tool manipulator 2) Cut by vision field control : cutting tasks with sheath manipulator 3) Resection

1)

2)

WasedaUniversity

Evaluation

Result (cont’d)


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Cut by vision field control Cut and vision field control

- Length : about 20 mm in total- Time : about 200 seconds in total

Three-times vision field repositioning Three repeated cuts on the same path- Length : about 20 mm in total- Time : about 40 seconds in total

Rapid macro cutting of tissues Dynamic change of endoscope image

Accurate cutting of tissues Time-consuming

WasedaUniversity

Evaluation

Result


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Resection Manipulation capabilities : the operator to perform resection tasks

- First: “cut by vision field control” for macro cutting of tissues- Second: “cut and vision field control” for precise cutting

WasedaUniversity

Evaluation

Discussion


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Accuracy and force- A stable mounting platform with smooth repositioning- Sufficient force and precision to perform the task

Expansion of approach path- The bending movement:

the perpendicular approach to the tissue

DOF and ROM- Enough DOF and ROM for resection task- Contribution to reducing the DOFs and ROM of robotic effectors

Global position- Possibility to lost the global positioning- Necessity of diagnostic image-based navigation system

Hand-eye triangulation- Prevention for the surgeon from seeing the end-effectors- positioning the endoscope for a view from above the tool manipulators

J. Ding et al., ICRA’10

WasedaUniversity

Conclusion


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Summary

Future work- Triangulation problem- Navigation system- In vivo experiment to evaluate the design configuration

A surgical robot with vision field control for SPS- The design and prototype of proposed system- The preliminary in vitro experiments

to evaluate its performance

WasedaUniversity


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Thank you for your attentions

ContactYo Kobayashi: [email protected] Masakatsu G. Fuie: [email protected]

This work was supported byGlobal COE (Centers of Excellence) Program “Global Robot Academia”High-Tech Research Center ProjectGrant Scientific Research (A) (90198664)Waseda University Grant for Special Research Project (2009B-207)

Robotic system to assist SPS_EMBC10_100902

Education

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