Workspace determination and robot design of a prototyped surgical robotic system based on a cadaveric study in Endonasal transsphenoidal surgery

Chalongwongse, Suwiphat; Suthakorn, Jackrit

doi:10.1109/robio.2014.7090337

Cited by 4 publications

(7 citation statements)

References 4 publications

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“…Implementation of control algorithms was realized using the DSPACE DS1103 real-time controller. The maximum workspace for the operation of endonasal skull base surgery was found to be a cylindrical space with 24.2 mm for diameter and 100.6 mm for length in [14] and 100 mm distance from the nostril entrance to the pituitary in [13], respectively. The calculated workspace of the SP under zero orientation is shown in Figure 2a.…”

Section: Methodsmentioning

confidence: 97%

“…Bumm et al [12] developed a serial robot based robotic system for endoscopic transsphenoidal surgery. Burgner et al [13] and Chalongwongse and Suthakorn [14] studied workspace requirements for robot assisted endonasal transsphenoidal surgery and designed a concentric tube continuum robot [13] and a hybrid 6 DOF robot in which a delta parallel robot was proposed for 3 DOF translation and 2 DOF for rotation and 1 DOF for surgical tool insertion. The required workspace was determined by an optical tracking system and computed tomography (CT) images.…”

Section: Introductionmentioning

confidence: 99%

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Design and development of a Stewart platform assisted and navigated transsphenoidal surgery

Kizir¹,

Bingül²

2019

Turk J Elec Eng & Comp Sci

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In this study, technical details of a Stewart platform (SP) based robotic system as an endoscope positioner and holder for endoscopic transsphenoidal surgery are presented. Inverse and forward kinematics, full dynamics, and the Jacobian matrix of the robotic system are derived and simulated in MATLAB/Simulink. The required control structure for the trajectory and position control of the SP is developed and verified by several experiments. The robotic system can be navigated using a six degrees of freedom (DOF) joystick and a haptic device with force feedback. Position and trajectory control of the SP in the joint space is achieved using a new model-free intelligent PI (iPI) controller and it is compared with the classical PID (proportional-integral-derivative) controller. Trajectory tracking experimental results showed that the tracking performance of iPI is better than that of PID and the total RMSE of the trajectory tracking is decreased by 17.64% using the iPI controller. The validity of the robotic system is proven in the endoscopic transsphenoidal surgery performed on a realistic head model in the laboratory and on a cadaver in the Institute of Forensic Medicine. The key feature of the system developed here is to operate the endoscope via the joystick or haptic device with force feedback under iPI control. Usage of this system helps surgeons in long, fatiguing, and complex operations. This system can generate new possibilities for transsphenoidal surgery such as fully automated robotic surgery systems.

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Section: Methodsmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Design and development of a Stewart platform assisted and navigated transsphenoidal surgery

Kizir¹,

Bingül²

2019

Turk J Elec Eng & Comp Sci

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“…In (10), the unknown value of Tdis is calculated using the known values at right hand side. From (11), Tdis is calculated as follows.…”

Section: Disturbance Observer Modelingmentioning

confidence: 99%

“…The authors propose use of Disturbance Observer (DOB) [1], [40] in a closed loop control system, to estimate the disturbances torque to find the friction components. The disturbance observer identifies the total mechanical load torque and the effects of system parameters as represented in equation (11). The friction components were estimated by conducting a constant velocity motion test [48], [40], when the motor is running at a constant velocity.…”

Section: Estimation Of Friction Componentsmentioning

confidence: 99%

“…However, for smaller size DC motors (10-100W), manufacturers' given values for commercially available motors may not always be accurate. For precise control applications, the accuracy of the motor parameters is very important [11]- [13]. Manufacturers do not normally supply friction related parameters.The varying parametric value of DC motors can also be attributed to the load connected with the motor [14].…”

Section: Introductionmentioning

confidence: 99%

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Motion control applications: observer based DC motor parameters estimation for novices

Pillai

Suthakorn

2019

IJPEDS

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<span>Estimation of motor inertia and friction components is a complex and challenging task in motion control applications where small size DC motors (<100W) are used for precise control. It is essential to estimate the accurate friction components and motor inertia, because the parameters provided by the manufacturer are not always accurate. This research proposes a Sensorless method of determining DC motor parameters, including moment of inertia, torque coefficient and frictional components using the Disturbance Observer (DOB) as a torque sensor. The constant velocity motion test and a novel Reverse Motion Acceleration test were conducted to estimate frictional components and moment of inertia of the motor. The validity of the proposed novel method was verified by experimental results and compared with conventional acceleration and deceleration motion tests. Experiments have been carried out to show the effectiveness and viability of the estimated parameters using a Reaction Torque Observer (RTOB) based friction compensation method.</span>

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A Spherical Joint Robotic End-Effector for the Expanded Endoscopic Endonasal Approach

Dimitrakakis

Dwyer

Lindenroth

et al. 2020

J. Med. Robot. Res.

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The endonasal transsphenoidal approach allows surgeons to access the pituitary gland through the natural orifice of the nose. Recently, surgeons have also described an Expanded Endoscopic Endonasal Approach (EEEA) for the treatment of other tumours around the base of the brain. However, operating in this way with nonarticulated tools is technically very difficult and not widely adopted. The goal of this study is to develop an articulated end-effector for a novel handheld robotic tool for the EEEA. We present a design and implementation of a 3.6[Formula: see text]mm diameter, three degrees-of-freedom, tendon-driven robotic end-effector that, contrary to rigid instruments which operate under fulcrum, will give the surgeon the ability to reach areas on the surface of the brain that were previously inaccessible. We model the end-effector kinematics in simulation to study the theoretical workspace it can achieve prior to implementing a test-bench device to validate the efficacy of the end-effector. We find promising repeatability of the proposed robotic end-effector of 0.42[Formula: see text]mm with an effective workspace with limits of [Formula: see text], which is greater than conventional neurosurgical tools. Additionally, although the tool’s end-effector has a small enough diameter to operate through the narrow nasal access path and the constrained workspace of EEEA, it showcased promising structural integrity and was able to support approximately a 6N load, despite a large deflection angle the limiting of which is scope of future work. These preliminary results indicate the end-effector is a promising first step towards developing appropriate handheld robotic instrumentation to drive EEEA adoption.

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Workspace determination and robot design of a prototyped surgical robotic system based on a cadaveric study in Endonasal transsphenoidal surgery

Cited by 4 publications

References 4 publications

Design and development of a Stewart platform assisted and navigated transsphenoidal surgery

Design and development of a Stewart platform assisted and navigated transsphenoidal surgery

Motion control applications: observer based DC motor parameters estimation for novices

A Spherical Joint Robotic End-Effector for the Expanded Endoscopic Endonasal Approach

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