EMBC 2010MS 2. Surgical Robotics – Image-Guided Robotized SurgeryDesign of a Surgical Robotwith Dynamic Vision Field Contr...
2/18Outline                       Waseda                              University Introduction   - Single port surgery Ap...
3/18    Outline                                         Waseda                                                    Universi...
4/18    Introduction                                                        Waseda    Single Port Surgery (SPS)           ...
5/18      Introduction                                                                                                  Wa...
6/18    Introduction                                                                         Waseda    Concept & Novelty (...
7/18    Introduction                                                                          Waseda    System overview   ...
8/18    Outline                                                     Waseda                                                ...
9/18    Design                                                                       Waseda    Vision field control manipu...
10/18    Design                                                                                                           ...
11/18    Design                                                                        Waseda    Insertable tool (sheath m...
12/18    Design                                                                                                           ...
13/18    Outline                 Waseda                            University      Introduction     System overview    ...
14/18    Evaluation                                                                            Waseda    Method           ...
15/18    Evaluation                                                                         Waseda    Result (cont’d)     ...
16/18    Evaluation                                                                               Waseda    Result        ...
17/18    Evaluation                                                                                Waseda    Discussion   ...
18/18    Conclusion                                                 Waseda                                                ...
19/18                                                                    Waseda                                           ...
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Robotic system to assist SPS_EMBC10_100902

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Robotic system to assist SPS_EMBC10_100902

  1. 1. EMBC 2010MS 2. Surgical Robotics – Image-Guided Robotized SurgeryDesign of a Surgical Robotwith Dynamic Vision Field Controlfor Single Port Endoscopic Surgery Yo Kobayashi, Y. Sekiguchi, Y. Tomono, H. Watanabe, M. G. Fujie Waseda University K. Toyoda, K. Konishi, M. Tomikawa, S. Ieiri, K. Tanoue, M. Hashizume Kyushu University Hospital
  2. 2. 2/18Outline Waseda University Introduction - Single port surgery Approach - Vision field control - Dual arm intervention System overview Design of prototype Experiment Summary
  3. 3. 3/18 Outline Waseda University  Introduction - Single port surgery - Problem : Limitation of vision field - Concept Dynamic vision field control & Dual arm intervention  Design of prototype  Evaluation  SummaryEMBC 2010 1, September, 2010
  4. 4. 4/18 Introduction Waseda Single Port Surgery (SPS) University  More advanced minimally invasive surgery  SPS reduces the number of skin incisions to ONE • Advantage - Physical damage of patient • Disadvantage - Difficulty in tissue manipulation & visual orientationEMBC 2010 1, September, 2010
  5. 5. 5/18 Introduction Waseda Related works : SPS & NOTES University J. Ding et al., Columbia University, B. Bardou et al., University of S.J. Phee et al., Nanyang Technological ICRA’10 Strasbourg, EMBC’09 University, EMBC’09  Development of a robotic effectors - Precise tissue manipulation inside patient body  Static positioning of the endoscope and work space - initially inserted and positioned within the surgical workspace and maintains a motionless state - a manual change of vision field is not intuitive is a time-consuming task for surgeonsEMBC 2010 1, September, 2010
  6. 6. 6/18 Introduction Waseda Concept & Novelty (cont’d) University  Robotic system with “Dynamic vision field control” - Master-slave function for manipulation of the robotic arm & control of vision field - Six DOFs only for the dynamic changes of vision field - Different DOFs for dual robotic arms to manipulate effector - A flexible endoscope at the forefront of the manipulatorEMBC2010 1, September, 2010
  7. 7. 7/18 Introduction Waseda System overview University  Dynamic vision field control manipulator - Six DOFs only for the control of vision field : change of endoscope view to arbitrary position and orientation - Intuitive change of endoscope view and work space to a target tissue  Dual arm tool manipulator - Precise tissue manipulationEMBC 2010 1, September, 2010
  8. 8. 8/18 Outline Waseda University  Introduction  Design of prototype - Vision field control manipulator ( Positioning manipulator & Insertable tool ) - Dual arm tool manipulators  In vitro experiment  SummaryEMBC 2010 1, September, 2010
  9. 9. 9/18 Design Waseda Vision field control manipulator University Positioning manipulator - Outside the body - One rotation and two orientation at pivot point for insertable tool Insertable tool - One translation at pivot point total of six DOFs for - Two bending DOF positioning of the endoscope inside patient body and tool manipulatorEMBC 2010 1, September, 2010
  10. 10. 10/18 Design Waseda Positioning manipulator [Oura et al. BioRob’06] University 1) Two DOF-orientations - Two gimbals at the tip of the SCARA at the tip of the fixed-bar - Horizontal motion of the SCARA 2) One DOF for axis of the insertable tool - Top gimbal can rotate about its own axis by using timing belt 1) 2) M. Oura, et al., “Development of MRI Compatible Versatile Manipulator for Minimally Invasive Surgery” 2006 IEEE Biomedical Robotics and Biomechatronics, pp.176-181, 2006EMBC 2010 1, September, 2010
  11. 11. 11/18 Design Waseda Insertable tool (sheath manipulator) University  Sheath manipulator - Two DOFs for bending motion inside the body - Spring back bone with a hole in the center of the shaft in order to pass through the power transmission and endoscope - Wires controls the compression and steering motions  Telescope mechanism : Ball screw mechanism on the drive unitEMBC 2010 1, September, 2010
  12. 12. 12/18 Design Waseda Tool manipulators [Sekiguchi et al. , BioRob’10] University - A surgical slave for dual arm interventions - End effectors can be used for various endoscopic instruments : a gripper and a cautery end-effector for resection task - A flexible endoscope shares a mechanical base with the tool manipulators - Four DOFs for the prototype : two-bendng DOFs, a one-DOF for rotation around the axis, one- translation endoscope cautery gripper Yuta Sekiguchi et al., “Development of a Tool Manipulator Driven by a Flexible Shaft for Single Port Endoscopic Surgery”,EMBC 2010 in 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics 1, September, 2010
  13. 13. 13/18 Outline Waseda University  Introduction  System overview  Design of prototype  in vitro experiment - Method - Result - Discussion  SummaryEMBC 2010 1, September, 2010
  14. 14. 14/18 Evaluation Waseda Method University - Objectives : evaluation of the cutting and resection performance - Setup: breast tissue placed on the metallic table - Task : cutting the tissue in a wide range over a view from a certain location by the engineers & medical doctors 1) Cut and vision field control : cutting tasks with tool manipulator 2) Cut by vision field control : cutting tasks with sheath manipulator 3) Resection 1) Return electrode 2) Wall ChickenEMBC 2010 1, September, 2010
  15. 15. 15/18 Evaluation Waseda Result (cont’d) University  Cut and vision field control  Cut by vision field control Three-times vision field repositioning Three repeated cuts on the same path - Length : about 20 mm in total - Length : about 20 mm in total - Time : about 200 seconds in total - Time : about 40 seconds in total  Accurate cutting of tissues  Rapid macro cutting of tissues  Time-consuming  Dynamic change of endoscope imageEMBC 2010 1, September, 2010
  16. 16. 16/18 Evaluation Waseda Result University  Resection Manipulation capabilities : the operator to perform resection tasks - First: “cut by vision field control” for macro cutting of tissues - Second: “cut and vision field control” for precise cuttingEMBC 2010 1, September, 2010
  17. 17. 17/18 Evaluation Waseda Discussion University  Accuracy and force - A stable mounting platform with smooth repositioning - Sufficient force and precision to perform the task  Expansion of approach path - The bending movement: the perpendicular approach to the tissue  DOF and ROM - Enough DOF and ROM for resection task - Contribution to reducing the DOFs and ROM of robotic effectors  Global position - Possibility to lost the global positioning - Necessity of diagnostic image-based navigation system  Hand-eye triangulation - Prevention for the surgeon from seeing the end-effectors J. Ding et al., ICRA’10 - positioning the endoscope for a view from above the tool manipulatorsEMBC 2010 1, September, 2010
  18. 18. 18/18 Conclusion Waseda University Summary A surgical robot with vision field control for SPS - The design and prototype of proposed system - The preliminary in vitro experiments to evaluate its performance Future work - Triangulation problem - Navigation system - In vivo experiment to evaluate the design configurationEMBC 2010 1, September, 2010
  19. 19. 19/18 Waseda University Thank you for your attentions Contact Yo Kobayashi: you-k@aoni.waseda.jp Masakatsu G. Fuie: mgfujie@waseda.jp This work was supported by Global COE (Centers of Excellence) Program “Global Robot Academia” High-Tech Research Center Project Grant Scientific Research (A) (90198664) Waseda University Grant for Special Research Project (2009B-207)EMBC 2010 1, September, 2010
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