22-03-2010, 02:09 PM
Telemanipulation of Snake-Like Robots for Minimally Invasive Surgery of the Upper Airway
Presented By:
Ankur Kapoor1, Kai Xu2, Wei Wei2
Nabil Simaan2 and Russell H. Taylor1
1 ERC-CISST
Department of Computer Science
Johns Hopkins University
2 ARMA: Advanced Robotics & Mechanism Applications
Department of Mechanical Engineering
Columbia University
Limitations of the Surgical Setup
Human-machine cooperative manipulation in surgery
Related Works:Surgical Dexterity Enhancement
Commercial Systems
Zeus
Intuitive Surgical Da-Vinci (Endo-Wrist)
Research Works
Dario (3 mm SMA for arthroscopy visualization)
Ikuta (15 mm SMA, colonoscopy)
Ikuta, Yamamoto, Sasaki (Deep surgical field)
Fujie (Dexterity for Brain Surgery)
Asai & Mituishi (5mm snake like device for microsurgery)
Salisbury & Intuitive Surgical (Endo-Wrist, 5 mm wire actuated snake)
Sastry & Cavusoglu (2-3 DoF ~8mm wrists)
Jan Peirs (5 mm wire actuated snake)
¦.. And many other works
Related Works: Virtual Fixtures
Virtual fixtures: perceptual overlays designed to enhance performance
Active Compliance
Rosenberg
Stanisic et al.
Davies et al.
Park et al.
Vision Based
Marayong et al.
Dewan et al.
Based on Constrained Control
Funda et al.
Li et al.
Snake-Like Units (SLU)
High Level Constrained ControlSteady Hand Robot
5 Basic Geometric Constraints(Virtual fixture library)
Snake Like RobotSystem Architecture
Master Side Low-Level Controller
The low-level is a PD Joint Controller
The force applied by user is treated as disturbance
Under quasi-static approximation, position error is proportional to user force
Master Side High-Level Controller
A constrained least squares problem is solved for joint velocities.
Objective function determines the desired outcome.
Constraints modify the behavior of the robot to a given input.
Master Side High-Level Controller
Objectives:
Minimize error between desired motion and actual motion
Oppose motion that increases master-slave tracking error
Minimize the extraneous motion of the joints, and
Avoid large incremental joint motions that could occur near singularities
Master Side High-Level Controller
Objectives:
Minimize error between desired motion and actual motion
Oppose motion that increases master-slave tracking error
Minimize the extraneous motion of the joints, and
Avoid large incremental joint motions that could occur near singularities
Master Side High-Level Controller
Objectives:
Minimize error between desired motion and actual motion
Oppose motion that increases master-slave tracking error
Minimize the extraneous motion of the joints, and
Avoid large incremental joint motions that could occur near singularities
Master Side High-Level Controller
Constraints:
General form: Hm,j¢qm ¸ hm,j
Not allow motion outside joint range
Not allow motion that exceeds joint velocity limits
Additional constraints can be added from the VF Library
Slave Side Low-Level Controller
The low-level is a PID Joint Controller
The two DOF of each snake are parameterized by two angles
The bending angle of primary backbone
The orientation of bending plane with respect to base XZ plane
Slave Side High-Level Controller
Objectives:
Minimize error between desired motion and actual motion
Minimize the extraneous motion of the joints, and
Avoid large incremental joint motions that could occur near singularities
Constraints:
Not allow motion outside joint range
Not allow motion that exceeds joint velocity limits
More constraints can be added from the VF Library
Experimental SetupMaster
Experimental SetupSlave
Experimental SetupRoll motion
Experimental SetupS-bend motion
Experimental SetupSurgeonâ„¢s view
Experimental SetupFish Hook
Conclusion
A novel system designed considering special requirements for MIS of throat
High-level control of a telesurgical system
Efficient use of dexterity avoids motion of proximal joints
Validation experiments using suturing phantom
Acknowledgements
Dr. Paul Flint, School of Medicine, Johns Hopkins University.
NSF Research Grant #EEC9731478 and #IIS9801684
NIH #R21 “ B004457-01
Johns Hopkins and Columbia University Internal Funds
read full report
http://www.cisst~kapoor/snake/miccai2006_talk/miccai2006.ppt
http://www.columbia.edu/cu/mece/arma/pub...rkshop.pdf
http://www.cs.jhu.edu/~rht/RHT%20Papers/...MICCAI.pdf