Dual-scale robotic solution for middle ear surgery

Abstract

This paper deals with the control of a redundant robotic system for middle ear surgery (i.e., cholesteatoma tissues removal). The targeted robotic system is a macro-micro-scale robot composed of a redundant seven degrees of freedom (DoFs) on which is attached a two DoFs robotized flexible fiberscope. Two different control architectures are proposed to achieve a defined surgical procedure to remove the pathological tissue inside the middle ear cavity. The first proposed control mode is based on the position-based tele-operation of the entire system using a joystick (Phantom Omni) as a master arm. The second one combines comanipulation of the seven DoFs robotic arm using an embedded force/torque sensor and an end-frame tele-operation of the remaining two DoFs fiberscope using a lab-made in-hand joystick. Experimental validation is performed to evaluate and compare the performance of both developed control schemes. The obtained results using the labmade platform and the proposed controllers are discussed.

Robotic Guidance of a Surgical Tool Under Constrained Motions

“…At this stage, it requires choosing the adequate velocity of the tool-tip v t (15) to ensure that the lateral error d pf is regulated to zero while progressing along the path. An intuitive solution consists of decomposing the control velocity into two orthogonal components (Fig.…”

“…In the literature, the term forbidden-region virtual fixtures [12] is used for collaboration tasks where the user can either manipulate a robotic device [13] or telemanipulate a master device [14], [15]. These fixtures could be defined as geometric forms [7], [16] or vector field [18] around the tool.…”