ICM 2009 - Active Wrists Endoscope Navigation In Robotized Laparoscopic Surgery

Enrique Bauzano Nuñez ebauzano@uma.es

Active Wrists Endoscope Navigation in Robotized Laparoscopic Surgery

ACTIVE WRISTS ENDOSCOPE NAVIGATIONIN ROBOTIZED LAPAROSCOPIC SURGERY

Enrique Bauzano Núñez, Dr. Víctor Muñoz MartínezDra. Isabel García Morales, Belén Estebanez Campos

Dpto. Ingeniería de Sistemas y Automáticahttp://www.isa.uma.es

Universidad de Málaga (Spain)

OUTLINE

I. Introduction

II. Laparoscopic Navigation on Active Wrists

III.Force Interaction Model

IV.Control Strategy

V. Implantation and Experiments

VI.Conclusions and Future Works

I. INTRODUCTION

I. Introduction

Laparoscopic Surgery: “Accessing to the abdominal cavity with especial long instruments.”

LAPAROSCOPIC SURGERY

Advantages Lessen recovery time

Limit post-operative complications

Lower scars

Constraints Movement limitations

Loss of touch and 3D perception

Hand-eye coordination problems

I. Introduction

Proposal: “Solve the motion problem for a laparoscopic surgery robot assistant with an actuated wrist.”

GLOBE-SHAPED MOVEMENTS

{I} Fulcrum point Orientation angle Altitude angle External distance

ROBOTIC WRISTS COMPARATIVE

• Null forces on abdomen• Precision depends on fulcrum accuracy

• Null forces on abdomen• Special instruments needed• Previous calibration• Voluminous mechanisms

• No additional mechanisms on wrist• No special instruments needed• Low volume• May apply forces on abdomen

I. Introduction

II. LAPAROSCOPIC NAVIGATIONON ACTIVE WRISTS

NAVIGATION PROBLEM

Navigation Problem: Move the endoscope from A to B an altitude angle .

I0 Initial fulcrum (desired)

I Actual fulcrum

C Estimated fulcrum

e External distance error

es Separation error

ERROR ANALYSIS

Separation Error: When estimated fulcrum C differs from real location I0, external distance error e forces a fulcrum displacement es over the abdomen, which can be geometrically analyzed.

0 10 20 30 40 50 60 70 80 90

Altitude (degrees)

r es (m

es = e' tan

e' = 5 tanees

III. FORCE INTERACTION MODEL

ENDOSCOPE-ABDOMEN INTERACTION MODEL

III. Force Interaction Model

rs FFgF m

FORCES MODEL

Stiffness Coefficient

0 0.5 1 1.5-3

Time (seconds)

Real Estimated

Altitude (degrees)Time (seconds)

F r (New

ss eF NFr

III. Force Interaction Model

Friction Coefficient

IV. CONTROL STRATEGY

NAVIGATION STRATEGY

1. Rotate around estimated fulcrumFulcrum displacement over the abdomen

2. Passive Wrist BehaviorEndoscope rotation over the wrist to reduce fulcrum displacement

3. Altitude angle correctionRecover desired altitude angle

IV. Control Strategy

PASSIVE WRIST BEHAVIOR (I)IV. Control Strategy

Planner Robot

Abdomen Interaction

Force Sensor

Separation estimator

External Distance estimator

KFriction + Weight

Filtering

Planned Movement

Followed Altitude

Abdomen Force Fs Force F

Planned Altitude p

PASSIVE WRIST BEHAVIOR (II)IV. Control Strategy

Planner– Calculates the required trajectory with a first order system behavior– Acts faster than correction angle loop

Robot: Performs the controlled movement

Endoscope-Abdomen Interaction: Generates abdominal forces

Force Sensor: Measurement of forces

Separation Estimator– Depends on the stiffness estimation– Its value remains the same if Fs < Fthreshold

External Distance Estimator– Result of Force-Torque balance– Its value remains the same if Fs < Fthreshold

s LekLekL )1()()1(

SPHERICAL CONTROL LOOPIV. Control Strategy

Passive Wrist Behavior Robot

Followed Altitude

Control PI

Desired Altitude d

Planned Altitude p

Controlled Altitude c

V. IMPLANTATION AND EXPERIMENTS

IMPLANTATION (I)V. Implantation and Experiments

Movement Command

Virtual-PA10 simulator (Matlab)

Matlab-C++ DLL Library

linker

C++ Library PA-10 ControllerPA-10 Robot

IMPLANTATION (II)V. Implantation and Experiments

EXPERIMENTAL RESULTS

0 2 4 6 8 100

Time (seconds)

V. Implantation and Experiments

0 2 4 6 8 10266

Time (seconds)

EstimatedReal

0 1 2 3 4 5 6-49

Time (seconds)

Desired Followed

VI. CONCLUSIONS AND FUTURE WORKS

FUTURE WORKS

Active tasks during an intervention

Development of semi-autonomous robotic surgeon assistants

Like remote-centered wrists, useful on tele-surgery fields

CURRENT STATUS

System does not depend on friction force

Stiffness can be now measured on-line, not model needed

ICM 2009 - Active Wrists Endoscope Navigation In Robotized Laparoscopic Surgery

Health & Medicine

Transcript of ICM 2009 - Active Wrists Endoscope Navigation In Robotized Laparoscopic Surgery

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