Task control with remote center of motion constraint for minimally invasive robotic surgery

Aghakhani, Nastaran; Geravand, Milad; Shahriari, Navid; Vendittelli, Marilena; Oriolo, Giuseppe

doi:10.1109/icra.2013.6631412

Cited by 104 publications

(65 citation statements)

References 21 publications

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“…This is only possible by restricting the motion of the last link with respect to the entry point on the sclera. We follow the general approach in [7] and adapt it to our setting. One major advantage of this approach in comparison to [8] is that it does not require the definition of a tangent plane at the entry point.…”

Section: Methodsmentioning

confidence: 99%

“…By fulfilling the RCM constraint the degrees of freedom of the robot are reduced by two, i.e. for fulfilling a task in an n t -dimensional space the robot must have at least n ≥ n t + 2 degrees of freedom [7].…”

Section: Methodsmentioning

confidence: 99%

“…The first is based on the concept of taskpriority [10] as implemented in [8] and the second on the alternative kinematics [11] (also referred to as extended Jacobian footnote distinguishing [12]) approach as shown in [7] [14]. In this work the second approach was followed; using the alternative kinematics where the RCM constraint can be directly incorporated into the robot task.…”

Section: Methodsmentioning

confidence: 99%

See 2 more Smart Citations

Virtual fixture control of a hybrid parallel-serial robot for assisting ophthalmic surgery: An experimental study

Nasseri

Gschirr

Eder

et al. 2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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Abstract-This paper presents the virtual fixture control methods for a hybrid parallel-serial micromanipulator, which is designed for assisting ophthalmic surgeons. Virtual fixtures are features of surgical robotic setups to improve quality of the surgery and reduces the operation risk. In the domain of ophthalmic surgery lack of virtual fixtures in manual operations has limited, and sometimes even blocked, the treatment options. The contribution of this paper is concept analysis and implementation of flexible virtual fixture for the novel hybrid parallel-serial mechanism and experimentally evaluation of this concept. The virtual fixture using this mechanism enables the user to adjust them even during the procedure. Pivoting around a Remote Center of Motion (RCM), which in retinal surgery is the incision point, is the most famous virtual fixture of ophthalmic surgery. Autonomous RCM adjustment for VitreoRetinal surgery, implying retinal reachability study, is the secondary contribution which is investigated in this paper.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Virtual fixture control of a hybrid parallel-serial robot for assisting ophthalmic surgery: An experimental study

Nasseri

Gschirr

Eder

et al. 2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

View full text Add to dashboard Cite

show abstract

“…Aghakhani et al [10] proposed a formalization of the RCM constraint that explicitly models translation along the link axis and therefore allows direct control of a variable representing a link penetration into a patient's body.…”

Section: Introductionmentioning

confidence: 99%

Analysis of a moving remote center of motion for robotics-assisted minimally invasive surgery

Pham

Coutinho

Leite

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents a novel control architecture for controlling a moving remote center of motion in addition to the end-effector motion during robotic surgery. In minimally invasive surgery, it is common to require that the point at which the robot enters the body, called the incision point or the trocar, does not allow for any lateral motion. It is generally considered that no motion should be applied to this point in order to avoid inflicting damage to the patient's skin. However, in surgery, the patient's body may be moving, for example due to breathing or the beating of the heart. In order to compensate for this motion-or if we for some other reason want to leverage the possible motion of the incision point to improve performance in any other way-we derive a new framework which allows us to actively control the motion both at the incision point and the end effector. The novelty of the approach lies in the possibility of controlling both the incision point and the end effector to follow a trajectory, and that we find a Jacobian matrix that satisfies the velocity constraints in both the end-effector and the incision point frames. This allows us to formulate a framework that is not only suited for control, but also for analyzing the condition number of the Jacobian and avoid any singular configurations that may arise either as a result of the constrained motion or the manipulator geometry. The approach is verified experimentally on a redundant industrial manipulator.

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“…It is difficult to control the needle tip precisely, resulting in serious outcomes. Robot-assisted surgery has shown advantage of better needle control [1,2], but several limitations still exist. During the robotic needle insertion, the force is often measured at the needle drive end, not from the needle tip, and is fed back to the robot control [3,4].…”

Section: Introductionmentioning

confidence: 99%

Identification of tissue types and boundaries with a fiber optic force sensor

Yang

Hong

Han

et al. 2014

Sci. China Inf. Sci.

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The absence of tactile force information at the tip of a medical instrument makes precise minimally invasive surgery difficult and is prone to resulting in serious outcomes. In this paper, a fiber optic force sensor is fabricated based on Fabry-Pérot interferometry and integrated with a puncture needle. The force sensor is attached to the needle tip, where interactive force arises as it inserts into soft tissue. Needle insertion experiments have been conducted on ex vivo swine liver and belly with the calibrated force sensor. Using wavelet transform method, the acquired force data are analyzed and used to identify layered tissue types and boundaries. We found that the force amplitudes are not always identical, but the patterns of forces are almost the same, which enables us to identify layered tissues and to realize a safe needle insertion procedure under robot control.Keywords fiber optic force sensor, needle puncture, layered tissue, identification of tissue types and boundaries, wavelet transform Citation Yang T W, Zhu H F, Han J D, et al. Identification of tissue types and boundaries with a fiber optic force sensor.

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Task control with remote center of motion constraint for minimally invasive robotic surgery

Cited by 104 publications

References 21 publications

Virtual fixture control of a hybrid parallel-serial robot for assisting ophthalmic surgery: An experimental study

Virtual fixture control of a hybrid parallel-serial robot for assisting ophthalmic surgery: An experimental study

Analysis of a moving remote center of motion for robotics-assisted minimally invasive surgery

Identification of tissue types and boundaries with a fiber optic force sensor

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