Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire
Identifieur interne : 000F54 ( Main/Merge ); précédent : 000F53; suivant : 000F55Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire
Auteurs : Chiwon Lee [Corée du Sud] ; Woo Jung Park [Corée du Sud] ; Myungjoon Kim [Corée du Sud] ; Seungwoo Noh [Corée du Sud] ; Chiyul Yoon [Corée du Sud] ; Choonghee Lee [Corée du Sud] ; Youdan Kim [Corée du Sud] ; Hyeon Hoe Kim [Corée du Sud] ; Hee Chan Kim [Corée du Sud] ; Sungwan Kim [Corée du Sud]Source :
- BioMedical Engineering OnLine [ 1475-925X ] ; 2014.
Abstract
Although minimally invasive surgery (MIS) affords several advantages compared to conventional open surgery, robotic MIS systems still have many limitations. One of the limitations is the non-uniform gripping force due to mechanical strings of the existing systems. To overcome this limitation, a surgical instrument with a pneumatic gripping system consisting of a compressor, catheter balloon, micro motor, and other parts is developed.
This study aims to implement a surgical instrument with a pneumatic gripping system and pitching/yawing joints using micro motors and without mechanical strings based on the surgical-operation-by-wire (SOBW) concept. A 6-axis external arm for increasing degrees of freedom (DOFs) is integrated with the surgical instrument using LabVIEW® for laparoscopic procedures. The gripping force is measured over a wide range of pressures and compared with the simulated ideal step function. Furthermore, a kinematic analysis is conducted. To validate and evaluate the system’s clinical applicability, a simple peg task experiment and workspace identification experiment are performed with five novice volunteers using the fundamentals of laparoscopic surgery (FLS) board kit. The master interface of the proposed system employs the hands-on-throttle-and-stick (HOTAS) controller used in aerospace engineering. To develop an improved HOTAS (iHOTAS) controller, 6-axis force/torque sensor was integrated in the special housing.
The mean gripping force (after 1,000 repetitions) at a pressure of 0.3 MPa was measured to be 5.8 N. The reaction time was found to be 0.4 s, which is almost real-time. All novice volunteers could complete the simple peg task within a mean time of 176 s, and none of them exceeded the 300 s cut-off time. The system’s workspace was calculated to be 11,157.0 cm3.
The proposed pneumatic gripping system provides a force consistent with that of other robotic MIS systems. It provides near real-time control. It is more durable than the existing other surgical robot systems. Its workspace is sufficient for clinical surgery. Therefore, the proposed system is expected to be widely used for laparoscopic robotic surgery. This research using iHOTAS will be applied to the tactile force feedback system for surgeon’s safe operation.
Url:
DOI: 10.1186/1475-925X-13-130
PubMed: 25189221
PubMed Central: 4167265
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surgical-operation-by-wire</title><author><name sortKey="Lee, Chiwon" sort="Lee, Chiwon" uniqKey="Lee C" first="Chiwon" last="Lee">Chiwon Lee</name><affiliation wicri:level="4"><nlm:aff id="Aff4">Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul, 110-744 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Park, Woo Jung" sort="Park, Woo Jung" uniqKey="Park W" first="Woo Jung" last="Park">Woo Jung Park</name><affiliation wicri:level="4"><nlm:aff id="Aff4">Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul, 110-744 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Kim, Myungjoon" sort="Kim, Myungjoon" uniqKey="Kim M" first="Myungjoon" last="Kim">Myungjoon Kim</name><affiliation wicri:level="4"><nlm:aff id="Aff4">Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul, 110-744 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Noh, Seungwoo" sort="Noh, Seungwoo" uniqKey="Noh S" first="Seungwoo" last="Noh">Seungwoo Noh</name><affiliation wicri:level="4"><nlm:aff id="Aff4">Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul, 110-744 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Yoon, Chiyul" sort="Yoon, Chiyul" uniqKey="Yoon C" first="Chiyul" last="Yoon">Chiyul Yoon</name><affiliation wicri:level="4"><nlm:aff id="Aff4">Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul, 110-744 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Lee, Choonghee" sort="Lee, Choonghee" uniqKey="Lee C" first="Choonghee" last="Lee">Choonghee Lee</name><affiliation wicri:level="4"><nlm:aff id="Aff4">Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul, 110-744 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Kim, Youdan" sort="Kim, Youdan" uniqKey="Kim Y" first="Youdan" last="Kim">Youdan Kim</name><affiliation wicri:level="3"><nlm:aff id="Aff5">Department of Mechanical & Aerospace Engineering, Seoul National University College of Engineering, Seoul, 151-742 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Department of Mechanical & Aerospace Engineering, Seoul National University College of Engineering, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Kim, Hyeon Hoe" sort="Kim, Hyeon Hoe" uniqKey="Kim H" first="Hyeon Hoe" last="Kim">Hyeon Hoe Kim</name><affiliation wicri:level="3"><nlm:aff id="Aff6">Department of Urology, Seoul National University Hospital, Seoul, 110-744 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Department of Urology, Seoul National University Hospital, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Kim, Hee Chan" sort="Kim, Hee Chan" uniqKey="Kim H" first="Hee Chan" last="Kim">Hee Chan Kim</name><affiliation wicri:level="3"><nlm:aff id="Aff7">Department of Biomedical Engineering, Seoul National University College of Medicine, Seoul, 110-799 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Department of Biomedical Engineering, Seoul National University College of Medicine, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName></affiliation><affiliation wicri:level="4"><nlm:aff id="Aff8">Institute of Medical and Biological Engineering, Seoul National University, Seoul, 151-742 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Institute of Medical and Biological Engineering, Seoul National University, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Kim, Sungwan" sort="Kim, Sungwan" uniqKey="Kim S" first="Sungwan" last="Kim">Sungwan Kim</name><affiliation wicri:level="3"><nlm:aff id="Aff7">Department of Biomedical Engineering, Seoul National University College of Medicine, Seoul, 110-799 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Department of Biomedical Engineering, Seoul National University College of Medicine, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName></affiliation><affiliation wicri:level="4"><nlm:aff id="Aff8">Institute of Medical and Biological Engineering, Seoul National University, Seoul, 151-742 South Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Institute of Medical and Biological Engineering, Seoul National University, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author></analytic><series><title level="j">BioMedical Engineering OnLine</title><idno type="eISSN">1475-925X</idno><imprint><date when="2014">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec><title>Background</title><p>Although minimally invasive surgery (MIS) affords several advantages compared to conventional open surgery, robotic MIS systems still have many limitations. One of the limitations is the non-uniform gripping force due to mechanical strings of the existing systems. To overcome this limitation, a surgical instrument with a pneumatic gripping system consisting of a compressor, catheter balloon, micro motor, and other parts is developed.</p></sec><sec><title>Method</title><p>This study aims to implement a surgical instrument with a pneumatic gripping system and pitching/yawing joints using micro motors and without mechanical strings based on the surgical-operation-by-wire (SOBW) concept. A 6-axis external arm for increasing degrees of freedom (DOFs) is integrated with the surgical instrument using LabVIEW® for laparoscopic procedures. The gripping force is measured over a wide range of pressures and compared with the simulated ideal step function. Furthermore, a kinematic analysis is conducted. To validate and evaluate the system’s clinical applicability, a simple peg task experiment and workspace identification experiment are performed with five novice volunteers using the fundamentals of laparoscopic surgery (FLS) board kit. The master interface of the proposed system employs the hands-on-throttle-and-stick (HOTAS) controller used in aerospace engineering. To develop an improved HOTAS (iHOTAS) controller, 6-axis force/torque sensor was integrated in the special housing.</p></sec><sec><title>Results</title><p>The mean gripping force (after 1,000 repetitions) at a pressure of 0.3 MPa was measured to be 5.8 N. The reaction time was found to be 0.4 s, which is almost real-time. All novice volunteers could complete the simple peg task within a mean time of 176 s, and none of them exceeded the 300 s cut-off time. The system’s workspace was calculated to be 11,157.0 cm<sup>3</sup>.</p></sec><sec><title>Conclusions</title><p>The proposed pneumatic gripping system provides a force consistent with that of other robotic MIS systems. It provides near real-time control. It is more durable than the existing other surgical robot systems. Its workspace is sufficient for clinical surgery. Therefore, the proposed system is expected to be widely used for laparoscopic robotic surgery. This research using iHOTAS will be applied to the tactile force feedback system for surgeon’s safe operation.</p></sec></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Kang, Bh" uniqKey="Kang B">BH Kang</name></author><author><name sortKey="Xuan, Y" uniqKey="Xuan Y">Y Xuan</name></author><author><name sortKey="Hur, H" uniqKey="Hur H">H Hur</name></author><author><name sortKey="Ahn, Cw" uniqKey="Ahn C">CW Ahn</name></author><author><name sortKey="Cho, Yk" uniqKey="Cho Y">YK Cho</name></author><author><name sortKey="Han, S U" uniqKey="Han S">S-U Han</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Sung, Gt" uniqKey="Sung G">GT Sung</name></author><author><name sortKey="Gill, Is" uniqKey="Gill I">IS Gill</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Corcione, F" uniqKey="Corcione F">F Corcione</name></author><author><name sortKey="Esposito, C" uniqKey="Esposito C">C 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uniqKey="Bromba M">MUA Bromba</name></author><author><name sortKey="Ziegler, H" uniqKey="Ziegler H">H Ziegler</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Candan, C" uniqKey="Candan C">Ç Candan</name></author><author><name sortKey="Inan, H" uniqKey="Inan H">H Inan</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Joseph, R" uniqKey="Joseph R">R Joseph</name></author><author><name sortKey="Goh, A" uniqKey="Goh A">A Goh</name></author><author><name sortKey="Cuevas, S" uniqKey="Cuevas S">S Cuevas</name></author><author><name sortKey="Donovan, M" uniqKey="Donovan M">M Donovan</name></author><author><name sortKey="Kauffman, M" uniqKey="Kauffman M">M Kauffman</name></author><author><name sortKey="Salas, N" uniqKey="Salas N">N Salas</name></author><author><name sortKey="Miles, B" uniqKey="Miles B">B Miles</name></author><author><name sortKey="Bass, B" uniqKey="Bass B">B Bass</name></author><author><name sortKey="Dunkin, 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Kong</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Gupta, V" uniqKey="Gupta V">V Gupta</name></author><author><name sortKey="Reddy, Np" uniqKey="Reddy N">NP Reddy</name></author><author><name sortKey="Batur, P" uniqKey="Batur P">P Batur</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Sukthankar, Sm" uniqKey="Sukthankar S">SM Sukthankar</name></author><author><name sortKey="Reddy, Np" uniqKey="Reddy N">NP Reddy</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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