Modular Design of Master-Slave Surgical Robotic System with Reliable Real-Time Control Performance

Aoki, Eisuke; Suzuki, Takashi; Kobayashi, Etsuko; Sakuma, Ichiro; Konishi, Kozo; Hashizume, Makoto

doi:10.1109/biorob.2006.1639064

Cited by 5 publications

(6 citation statements)

References 9 publications

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“…In previous studies [8,11], distributed object models such as CORBA (Common Object Request Broker Architecture) were introduced. However, it is essential to keep the simplicity of implementation to be widely used platform.…”

Section: Methodsmentioning

confidence: 99%

“…Kragic et al [10] have proposed a structure and analytical models of a human–machine collaborative systems (HMCS) including a method of guidance virtual fixture for microsurgical applications by using an admittance controlled robot. A communication software for system integration of the surgical devices using CORBA was studied [11]. As studies on virtual fixture, Abbott et al [4] proposed tele-operation algorithm using a forbidden-region virtual fixture (FRVF) and compared nine FRVFs on each of four common tele-manipulator control architectures.…”

Section: Purposementioning

confidence: 99%

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Open core control software for surgical robots

et al. 2009

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Object-In these days, patients and doctors in operation room are surrounded by many medical devices as resulting from recent advancement of medical technology. However, these cutting-edge medical devices are working independently and not collaborating with each other, even though the collaborations between these devices such as navigation systems and medical imaging devices are becoming very important for accomplishing complex surgical tasks (such as a tumor removal procedure while checking the tumor location in neurosurgery). On the other hand, several surgical robots have been commercialized, and are becoming common. However, these surgical robots are not open for collaborations with external medical devices in these days. A cutting-edge "intelligent surgical robot" will be possible in collaborating with surgical robots, various kinds of sensors, navigation system and so on. On the other hand, most of the academic software developments for surgical robots are "home-made" in their research institutions and not open to the public. Therefore, open source control software for surgical robots can be beneficial in this field. FromCorrespondence to: Jumpei Arata, jumpei@nitech.ac.jp. NIH Public Access Author ManuscriptInt J Comput Assist Radiol Surg. Author manuscript; available in PMC 2010 August 23. NIH-PA Author Manuscript NIH-PA Author Manuscript NIH-PA Author Manuscript these perspectives, we developed Open Core Control software for surgical robots to overcome these challenges.Materials and methods-In general, control softwares have hardware dependencies based on actuators, sensors and various kinds of internal devices. Therefore, these control softwares cannot be used on different types of robots without modifications. However, the structure of the Open Core Control software can be reused for various types of robots by abstracting hardware dependent parts. In addition, network connectivity is crucial for collaboration between advanced medical devices. The OpenIGTLink is adopted in Interface class which plays a role to communicate with external medical devices. At the same time, it is essential to maintain the stable operation within the asynchronous data transactions through network. In the Open Core Control software, several techniques for this purpose were introduced. Virtual fixture is well known technique as a "force guide" for supporting operators to perform precise manipulation by using a master-slave robot. The virtual fixture for precise and safety surgery was implemented on the system to demonstrate an idea of high-level collaboration between a surgical robot and a navigation system. The extension of virtual fixture is not a part of the Open Core Control system, however, the function such as virtual fixture cannot be realized without a tight collaboration between cutting-edge medical devices. By using the virtual fixture, operators can pre-define an accessible area on the navigation system, and the area information can be transferred to the robot. In this manner, the surgical console generates ...

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Section: Methodsmentioning

confidence: 99%

Section: Purposementioning

confidence: 99%

Open core control software for surgical robots

et al. 2009

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“…The system's sampling frequency must be high enough to avoid lags in the feedback from slave to master and master to slave; a communication protocol is therefore established between the two sides of the system. Thus, its stability largely depends upon the communicational link between subsystems, i.e., the master and slave units [21].…”

Section: Introductionmentioning

confidence: 99%

“…Thus, its stability largely depends upon the communicational link between subsystems, i.e., the master and slave parts [21].…”

Section: Master Slave Topologymentioning

confidence: 99%

Design and Control of a Haptic Enabled Robotic Manipulator

Yaqoob

Qaisrani

Tariq

et al. 2015

International Journal of Advanced Robotic Systems

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Robotic surgery offers various advantages over conventional surgery that includes less bleeding, less trauma, and more precise tissue cutting. However, even surgeons who use the best commercially available surgical robotic systems complain about the absence of haptic feedback in such systems. In this paper, we present the findings of our project to overcome this shortcoming of surgical robotic systems, in which a haptic-enabled robotic system based on master and slave topology is designed and developed. To detect real-time intrusion at the slave end, haptic feedback is implemented along with a programmable system on chip, functioning as an embedded system for processing information. In order to obtain real-time haptic feedback, force and motion sensors are mounted on each joint of the master and slave units. At the master end, results are displayed through a graphical user interface, along with the physical feeling of intrusion at the slave part. Apart from the obvious applications of the current system in robotic surgery, it could also be used in designing more intuitive video games with further precise haptic feedback mechanisms. Moreover, the results presented in our work should pave the way for further scientific investigation, to provide even better haptic mechanisms.

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“…The slave system consists of mechanism part with 4 DOF and control part for moving an end-effector. The TCP/IP communication is used for data transmission between master and slave systems [16]. In addition, for the accuracy and safety of the operation, we will introduce the image guided surgery system.…”

mentioning

confidence: 99%

Tele-operation master-slave system for minimal invasive brain surgery

Seung

Kang

et al. 2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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The minimal invasive surgery reducing an incision is required for a tumor resection in the field of neurosurgery. The minimal invasive surgery has many advantages of operations which are less lost of blood and painless using a thin long pole shape surgical instrument. For all those advantages, it has defects of difficulties of visual insurance and limitations of moving surgical instruments. Therefore, many researchers are developing several manipulators which are capable of minimal invasive surgery using robot technologies to solve these problems recently. However, most developed surgery robots for minimal invasive surgery are limited to the operation of laparoscopic surgery. In this study, we developed a tele-operational master-slave system for the minimal invasive brain surgery. The master manipulator has 4 degree of freedom (DOF) mechanism for the manipulation of slave position and direction. Similarly, the slave end-effecter for the minimal invasive brain surgery has a thin long pole shape of 4DOF instrument. The master manipulator and slave end-effector have a similar configuration and 4DOF mechanism which consists of a linear motion and 3 rotational roll-pitch-yaw motions. Therefore, the position command matching between the two systems is very easy. In addition, the master and slave control systems are connected with TCP/IP based internet communication for the tele-operation surgery. Finally, various experimental results are executed to evaluate the performances of the proposed tele-operation master-slave system.

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Modular Design of Master-Slave Surgical Robotic System with Reliable Real-Time Control Performance

Cited by 5 publications

References 9 publications

Open core control software for surgical robots

Open core control software for surgical robots

Design and Control of a Haptic Enabled Robotic Manipulator

Tele-operation master-slave system for minimal invasive brain surgery

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