Autonomous Coordinated Control of the Light Guide for Positioning in Vitreoretinal Surgery

Koyama, Yuki; Marinho, Murilo M.; Mitsuishi, Mamoru; Harada, Kensuke

doi:10.1109/tmrb.2022.3147033

Cited by 13 publications

(3 citation statements)

References 45 publications

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“…However, the da Vinci surgical system has a bulky setup, entails a high cost, and the dimensions of the robotic surgical tool make it unsuitable for all types of surgery. To address these limitations, novel robotic surgical systems have been proposed for specific surgical scenarios, such as eye surgery [ 4 ], transnasal surgery [ 5 ], or pediatric laparoscopic surgery [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

Colan

Davila

Fozilov

et al. 2023

Sensors

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Minimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive surgery introduces significant challenges related to the control of the robot’s motion and the accuracy of its movements. In particular, the inverse kinematics (IK) problem is critical for robot-assisted minimally invasive surgery (RMIS), where satisfying the remote center of motion (RCM) constraint is essential to prevent tissue damage at the incision point. Several IK strategies have been proposed for RMIS, including classical inverse Jacobian IK and optimization-based approaches. However, these methods have limitations and perform differently depending on the kinematic configuration. To address these challenges, we propose a novel concurrent IK framework that combines the strengths of both approaches and explicitly incorporates RCM constraints and joint limits into the optimization process. In this paper, we present the design and implementation of concurrent inverse kinematics solvers, as well as experimental validation in both simulation and real-world scenarios. Concurrent IK solvers outperform single-method solvers, achieving a 100% solve rate and reducing the IK solving time by up to 85% for an endoscope positioning task and 37% for a tool pose control task. In particular, the combination of an iterative inverse Jacobian method with a hierarchical quadratic programming method showed the highest average solve rate and lowest computation time in real-world experiments. Our results demonstrate that concurrent IK solving provides a novel and effective solution to the constrained IK problem in RMIS applications.

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Section: Introductionmentioning

confidence: 99%

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

Colan

Davila

Fozilov

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…Some groups have used the relationship between the needle tip and its shadow to estimate the depth information [122,132]. Koyama et al [133] implemented autonomous coordinated control of the light guide using dynamic regional virtual fixtures generated by vector field inequalities, so that the shadows of the instruments were always within the microscope view and the needle tip was automatically localized on the retina by detecting the instrument and its shadow at a predefined pixel distance. However, the accuracy of the positioning depends on the quality of the image, which affects the precise segmentation of the instrument and its shadows.…”

mentioning

confidence: 99%

“…However, autonomous positioning and navigation pose challenges in microsurgery due to limited workspace and depth estimation. To overcome these difficulties, autonomous positioning of surgical instruments based on coordinated control of the light guide is being explored in RVC [133]. A spotlight-based 3D instrument guidance technique was also utilized for an autonomous vessel tracking task (an intermediate step in RVC) with better performance than manual execution and cooperative control in tracking vessels [147].…”

mentioning

confidence: 99%

Microsurgery Robots: Applications, Design, and Development

Wang,

Li,

et al. 2023

Sensors

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Microsurgical techniques have been widely utilized in various surgical specialties, such as ophthalmology, neurosurgery, and otolaryngology, which require intricate and precise surgical tool manipulation on a small scale. In microsurgery, operations on delicate vessels or tissues require high standards in surgeons’ skills. This exceptionally high requirement in skills leads to a steep learning curve and lengthy training before the surgeons can perform microsurgical procedures with quality outcomes. The microsurgery robot (MSR), which can improve surgeons’ operation skills through various functions, has received extensive research attention in the past three decades. There have been many review papers summarizing the research on MSR for specific surgical specialties. However, an in-depth review of the relevant technologies used in MSR systems is limited in the literature. This review details the technical challenges in microsurgery, and systematically summarizes the key technologies in MSR with a developmental perspective from the basic structural mechanism design, to the perception and human–machine interaction methods, and further to the ability in achieving a certain level of autonomy. By presenting and comparing the methods and technologies in this cutting-edge research, this paper aims to provide readers with a comprehensive understanding of the current state of MSR research and identify potential directions for future development in MSR.

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Engineering knowledge for medical applications

Mitsuishi

2024

Procedia CIRP

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Autonomous Coordinated Control of the Light Guide for Positioning in Vitreoretinal Surgery

Cited by 13 publications

References 45 publications

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

Microsurgery Robots: Applications, Design, and Development

Engineering knowledge for medical applications

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