International Conference on Robots and Systems 2009                         THREE-LAYER CONTROL FOR ACTIVE WRISTS IN      ...
3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery                         OUTLINE                       ...
3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic   NavigationIII.Control...
I. General Overview                            CISOBOT: SEMI-AUTONOMOUS ROBOT ASSISTANTINDEXI. OverviewII.Laparoscopic    ...
I. General Overview                            ROBOTIC WRISTS COMPARATIVEINDEXI. OverviewII.Laparoscopic   NavigationIII.C...
3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic   NavigationIII.Control...
II. Laparoscopic Navigation Problem                            GLOBE-SHAPED MOVEMENTSINDEXI. OverviewII.Laparoscopic   Nav...
II. Laparoscopic Navigation Problem                            NAVIGATION STRATEGYINDEXI. Overview                        ...
3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic   NavigationIII.Control...
III. Control Strategy                            SYSTEM ARCHITECTUREINDEXI. Overview                                 Layer...
III. Control Strategy                            SPHERICAL CONTROL LOOP (LAYER-1)INDEXI. OverviewII.Laparoscopic   Navigat...
III. Control Strategy                            PASSIVE EMULATION BEHAVIOR LOOP (LAYER-2)                                ...
III. Control Strategy                            CARTESIAN CONTROL LOOP (LAYER-3)INDEX                                    ...
III. Control Strategy                            STABILITYINDEXI. OverviewII.Laparoscopic             Spherical Level (La...
III. Control Strategy                            STABILITYINDEXI. OverviewII.Laparoscopic             Cartesian Level (La...
3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic   NavigationIII.Control...
IV. Implantation and Experiments                            EXPERIMENT 1: IN-VITRO TRIALINDEXI. OverviewII.Laparoscopic   ...
IV. Implantation and Experiments                            EXPERIMENT 2: ALTITUDE ORIENTATIONINDEXI. OverviewII.Laparosco...
3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic   NavigationIII.Control...
V. Conclusions                            CONCLUSIONSINDEX                            The methodology proposed simplifies...
3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery                                  Thanks for your atten...
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[11-15 Oct 2009] Three-layer Control for Active Wrists in Robotized Laparoscopic Surgery

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This paper is focused on the motion control problem for a laparoscopic surgery robot assistant with an actuated wrist. These assistants may apply non-desired efforts to the patient abdomen. Therefore, this article proposes a control methodology based on three feedback levels, which have been defined as layers. These layers control different aspects of the endoscope movement. A low level assures the dynamic of the robot assistant is performed accordingly. The mid level emulates a passive wrist behavior to avoid any efforts over the abdomen. An external high level deals with the global movement planning. This architecture also makes easier to analyze the stability of the whole system. Finally, a real in-vitro experiment has been implemented with an industrial robot in order to contrast the validity of this article procedure.

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Transcript of "[11-15 Oct 2009] Three-layer Control for Active Wrists in Robotized Laparoscopic Surgery"

  1. 1. International Conference on Robots and Systems 2009 THREE-LAYER CONTROL FOR ACTIVE WRISTS IN ROBOTIZED LAPAROSCOPIC SURGERY Enrique Bauzano-Núñez, Víctor Muñoz-Martínez Isabel García-Morales, Belén Estebanez-CamposSystem Engineering andAutomation Department System Engineering and Automation Department http://www.isa.uma.es University of Malaga (Spain) Enrique Bauzano Nuñez ebauzano@uma.es
  2. 2. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery OUTLINE I. General Overview II. Laparoscopic Navigation Problem III.Control Strategy IV.Implantation and ExperimentsSystem Engineering andAutomation Department V. Conclusions and Future Works Enrique Bauzano Nuñez ebauzano@uma.es
  3. 3. 3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic NavigationIII.Control StrategyIV.ExperimentsV.Conclusions I. GENERAL OVERVIEW System Engineering and Automation Department Enrique Bauzano Nuñez ebauzano@uma.es
  4. 4. I. General Overview CISOBOT: SEMI-AUTONOMOUS ROBOT ASSISTANTINDEXI. OverviewII.Laparoscopic Surgeon Navigation Tool Movement Voice CommandIII.Control StrategyIV.ExperimentsV.Conclusions 3D Tracking Navigation Tool Position/Orientation Controller Surgeon Maneuver Model Robot System Engineering and Automation Department Direct Intervention Processed Assistant Image Image Processing Patient Enrique Bauzano Nuñez ebauzano@uma.es
  5. 5. I. General Overview ROBOTIC WRISTS COMPARATIVEINDEXI. OverviewII.Laparoscopic NavigationIII.Control Strategy •  Null forces on abdomenIV.Experiments •  Precision depends on fulcrumV.Conclusions accuracy •  Null forces on abdomen •  Special instruments needed •  Previous calibration System Engineering and Automation Department •  Voluminous mechanisms •  No additional mechanisms on wrist •  No special instruments needed •  Low volume •  May apply forces on abdomen Enrique Bauzano Nuñez ebauzano@uma.es
  6. 6. 3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic NavigationIII.Control StrategyIV.ExperimentsV.Conclusions II. LAPAROSCOPIC NAVIGATION PROBLEM System Engineering and Automation Department Enrique Bauzano Nuñez ebauzano@uma.es
  7. 7. II. Laparoscopic Navigation Problem GLOBE-SHAPED MOVEMENTSINDEXI. OverviewII.Laparoscopic NavigationIII.Control StrategyIV.Experiments {I} Fulcrum pointV.Conclusions  Orientation angle  Altitude angle  External distance System Engineering and Automation Department Aim: “Solve the motion problem of an endoscope for a laparoscopic surgery robot assistant with an actuated wrist.” Enrique Bauzano Nuñez ebauzano@uma.es
  8. 8. II. Laparoscopic Navigation Problem NAVIGATION STRATEGYINDEXI. Overview ZIII.Laparoscopic Navigation L3III.Control L1 Strategy 1. Rotate around estimated fulcrumIV.Experiments Fulcrum displacement over the abdomenV.Conclusions 2. Passive Wrist Behavior Endoscope rotation over the wrist to reduce C fulcrum displacement System Engineering and Automation Department 3. Altitude angle correction Recover desired altitude angle XI I Enrique Bauzano Nuñez ebauzano@uma.es
  9. 9. 3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic NavigationIII.Control StrategyIV.ExperimentsV.Conclusions III. CONTROL STRATEGY System Engineering and Automation Department Enrique Bauzano Nuñez ebauzano@uma.es
  10. 10. III. Control Strategy SYSTEM ARCHITECTUREINDEXI. Overview Layer-1 Voice CommandII.Laparoscopic Spherical Control Surgeon NavigationIII.Control Strategy Spherical ReferenceIV.Experiments Layer-2 Passive Wrist EmulationV.Conclusions Spherical Cartesian Reference Location Layer-3 Cartesian Control Joints Location System Engineering and Joint Automation Department Reference Fulcrum Robot Arm Estimation Arm displacement Endoscope-Abdomen Force Interaction Patient Enrique Bauzano Nuñez ebauzano@uma.es
  11. 11. III. Control Strategy SPHERICAL CONTROL LOOP (LAYER-1)INDEXI. OverviewII.Laparoscopic Navigation d e FdIII.Control Robot T1  (kT1 ) + Strategy Trajectory e Lr PWE GeneratorIV.Experiments  d (kT1 ) r Controller +-V.Conclusions T1 c Control PI Layer-1 Spherical Control PI System Engineering and Automation Department Action: Recover desired trajectory, which has been changed with the passive wrist emulation (Layer-2). 1 1  e T1 /  Control PI Law: K I1  1  e T1 /  ; K P1  (1  e T1 /  )  e Enrique Bauzano Nuñez ebauzano@uma.es
  12. 12. III. Control Strategy PASSIVE EMULATION BEHAVIOR LOOP (LAYER-2) Endoscope-Abdomen InteractionINDEX F (kT2 ) GravityI. Overview M (kT2 ) Sensor External Distance + T2 II.Laparoscopic Estimator - NavigationIII.Control e (kT2 )  (kT2 ) Strategy Control PIIV.Experiments Layer-2V.Conclusions r - + Fc (kT2 ) Lr Robot T2  (kT2 ) + Cartesian Fd - Fr (kT2 ) 1 r (kT2 ) +  r (kT2 ) Controller - + ee System Engineering and Automation Department Control PI Forces Action: Reduce abdominal forces through a passive wrist emulation movement. Fx2  F y2 M e  Passive Angle:   e Fx2  Fy2 1 e (1  e T /  ) 2 KI2  ; K P2  Control PI Law: 1  e T2 /  (1  e T2 /  ) Enrique Bauzano Nuñez ebauzano@uma.es
  13. 13. III. Control Strategy CARTESIAN CONTROL LOOP (LAYER-3)INDEX eI. Overview r  X r (kT3 )II.Laparoscopic Cartesian Navigation PlannerIII.Control T3 X r (kT3 )  T3 Lr  r (kT3 ) Strategy + KX ++ 1 J ( ) Robot T3 - z 1IV.ExperimentsV.Conclusions X (kT3 )  (kT3 ) F ( )  (kT3 ) Cartesian-Spherical Transform System Engineering and Automation Department Action: Adapt robot dynamics to a first order behavior. Control Law:  r  J 1 ( )(K x X  X r )   Enrique Bauzano Nuñez ebauzano@uma.es
  14. 14. III. Control Strategy STABILITYINDEXI. OverviewII.Laparoscopic Spherical Level (Layer-1) and Passive Wrist Emulation (Layer-2): Navigation Eigenvalues on dynamic matrices must be lower than one.III.Control StrategyIV.Experiments  1 e    1  1 e  1 1 A1   A2    (   e )  1 ;  e ( e   )  1 1 1  ;V.Conclusions  1       e Stability condition: System Engineering and Automation Department  e  2  ;  e  0.5 Enrique Bauzano Nuñez ebauzano@uma.es
  15. 15. III. Control Strategy STABILITYINDEXI. OverviewII.Laparoscopic Cartesian Level (Layer-3): Null dynamic error for proposed trajectory. NavigationIII.Control Strategy    r  J 1 ( )( K x X  X r )IV.ExperimentsV.Conclusions Cartesian planner PID System Engineering and Automation Department K x X  X r  J 1     T T  kT3  T3   kT3   d  Kx X  X r  0 Enrique Bauzano Nuñez ebauzano@uma.es
  16. 16. 3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic NavigationIII.Control StrategyIV.ExperimentsV.Conclusions IV. IMPLANTATION AND EXPERIMENTS System Engineering and Automation Department Enrique Bauzano Nuñez ebauzano@uma.es
  17. 17. IV. Implantation and Experiments EXPERIMENT 1: IN-VITRO TRIALINDEXI. OverviewII.Laparoscopic NavigationIII.Control Strategy 2IV.ExperimentsV.Conclusions forces (N) System Engineering and Automation Department -2 0 time (sec) 30 Enrique Bauzano Nuñez ebauzano@uma.es
  18. 18. IV. Implantation and Experiments EXPERIMENT 2: ALTITUDE ORIENTATIONINDEXI. OverviewII.Laparoscopic Navigation Orientation AngleIII.Control StrategyIV.ExperimentsV.Conclusions Altitude Angle System Engineering and Automation Department Force on Fulcrum Enrique Bauzano Nuñez ebauzano@uma.es
  19. 19. 3-Layer Control for Active Wrists in Robotized Laparoscopic SurgeryINDEXI. OverviewII.Laparoscopic NavigationIII.Control StrategyIV.ExperimentsV.Conclusions V. CONCLUSIONS AND FUTURE WORKS System Engineering and Automation Department Enrique Bauzano Nuñez ebauzano@uma.es
  20. 20. V. Conclusions CONCLUSIONSINDEX The methodology proposed simplifies theI. OverviewII.Laparoscopic controller design by dividing the problem in Navigation simpler subtasks.III.Control StrategyIV.Experiments System behavior may be easily studied:V.Conclusions stability, transient response, or steady state. Useful scheme for fault tolerance analysis. FUTURE WORKS System Engineering and Automation Department Extend the controller features to read interaction forces inside the abdominal cavity in order to perform tasks like displace tissues, cutting operations, stitch… Planning automatic movements according to surgeon commands. Use flexible tools instead a rigid endoscope. Enrique Bauzano Nuñez ebauzano@uma.es
  21. 21. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery Thanks for your attentionSystem Engineering andAutomation Department Enrique Bauzano Nuñez ebauzano@uma.es

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