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Surgical Robotics

Surgical Robotics. Updates. Lab #5 starts this week (last lab) Lab #4 writeup due Thursday 4/26 Next lecture on grasping, very special guest lecturer Robotics conference/exposition: http://www.roboevent.com/. Introduction.

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Surgical Robotics

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  1. Surgical Robotics ES159/259

  2. Updates • Lab #5 starts this week (last lab) • Lab #4 writeup due Thursday 4/26 • Next lecture on grasping, very special guest lecturer • Robotics conference/exposition: • http://www.roboevent.com/ ES159/259

  3. Introduction • Surgical robotics is a classic application of manipulator design and control • Motivations: why do we want to use robots in a surgical application? • Repeatability (precision) • Smaller incisions (less trauma) • Versatility (surgeon doesn’t need to be in the same room) • Procedures on active organs (i.e. potentially a beating heart) • Lower costs • Current drawbacks: • Lack of dexterity • Lack of sensory information • Force feedback • Tactile feedback • Visual feedback • High cost ES159/259

  4. Thoracic Epicardial lead Placement Chondroma Esophagectomy IMA Harvest IMA Takedown Lobectomy Lung Biopsy Nodulectomy Thymectomy Tumor resection Urology Donor Nephrectomy Prostatectomy Ureter Harvest Vascular Aortic Abdominal Aneurysm Vena Cava Tumor Cardiac Atrial Septal Defect Repair  Mitral Valve Repair TECAB - Totally endoscopic coronary artery bypass General Adrenalectomy Cholecystectomy Esophagatomy Gastric Bypass Heller Myotomy Nissen Fundoplication Gynecology Cystocele Repair Hysterectormy Tubal Ligation Tubal Reanastomosis Robot-Assisted Surgery ES159/259

  5. Introduction • Outline • Introduction to minimally invasive surgery • Teleoperation • Examples • Haptics and tactile feedback ES159/259

  6. Minimally invasive surgery • Also called laparoscopic surgery • The process of entering the body through small ‘ports’ rather than large incisions • Reduced trauma • Reduced overall cost • Typically involves at least three ports: one for a camera and two for manipulators ES159/259

  7. Minimally Invasivevs. OpenCholecystecomies (Thousands, U.S., 1996) > 80% Cholecystecomies done with MIS! (likewise for many other surgeries) ES159/259

  8. Minimally Invasive Surgery • Operations through small incisions • Reduced trauma to healthy tissue • Less pain, shorter hospital stay • Reduced cost -- Patient returns to work sooner • However, more difficult technique due to reduced access, dexterity, and perception • Limited dexterity due to only having 4 DOF • Reduced force feedback • No tactile feedback • Reduced hand-eye coordination • Problems in spatial planning • Many procedures cannot be performed with current MIS technology or are extremely difficult ES159/259

  9. Overcoming MIS Limitations • Replace the surgical instruments with robotic manipulators controlled by the surgeon through teleoperation • Increase dexterity by added DOFs ES159/259

  10. Teleoperation • Teleoperation means simply to operate a vehicle or a system over a distance • Distance can vary from tens of centimeters (micro manipulation) to millions of kilometers (space applications) • (fancy word for remote control) • Operator (master): human operator is the person who monitors the operated machine and makes the needed control actions • Teleoperator (slave): the teleoperated machine. A sophisticated teleoperator can also be called as telerobot ES159/259

  11. Definitions • Mechanical manipulation • The control commands are transmitted mechanically or hydraulically to the teleoperator. Visual feedback can be straight or via monitor. • This is typical for manipulation of dangerous materials as well as micro manipulation ES159/259

  12. Definitions • Closed loop control (Direct teleoperation): The operator controls the actuators of the teleoperator by direct (analog) signals and gets real-time feedback. This is possible only when the delays in the control loop are minimal. • Coordinated teleoperation: The operator again controls the actuators, but now there is some internal control - remote loop - included. However, there is no autonomy included in the remote end. The remote loops are used only to close those control loops that the operator is unable to control because of the delay. • Supervisory control: low-level control is at the teleoperator end (compare coordinated teleoperation). The teleoperator can now perform part of the tasks more or less autonomously, while the operator mainly monitors and gives high-level commands. The term task based teleoperation is sometimes used here, but it is more limited than "supervisory control". ES159/259

  13. Closed loop/Supervisory control ES159/259

  14. MIS end effector concepts Integrated Yaw & Pitch (Single Joint) 5 DOF Multi-Fingered Hand ES159/259

  15. MIS end effector concepts (cont) ES159/259

  16. Input devices ES159/259

  17. Example: Unimanual Telesurgical System ES159/259

  18. Example: surgical arm ES159/259

  19. Matched Robot Arm Kinematics { Canula } Identical Kinematics Robot Arm Master input ES159/259

  20. Telesurgery Concept ES159/259

  21. Da Vinci System • FDA - approved • Insite Vision System • Endowrist Instruments • Video Tower ES159/259

  22. Da Vinci Cart • Endowrist instruments • 3-4 robotic arms • Interchangeable end effectors ES159/259

  23. Da Vinci Console • 3D vision • Stereoscopic • Maser controls • Camera controls ES159/259

  24. Da Vinci System Robot arms Video display console patient surgeon ES159/259

  25. Da Vinci System • Master controller controls the motion of the end effector wrist Surgeon at console Master input ES159/259

  26. Da Vinci System • Multiple robotic arms • For camera control and end effector control Stereo endoscope 7DOF end effector ES159/259

  27. Example surgery • Patient’s chest is distended with CO2 to give room for the manipulators to operate Ports called ‘trocars’ ES159/259

  28. Example surgery • Connection between the robotic arm and the patient Robotic arm enters the patient through the trocar ES159/259

  29. Example surgery • Camera view: ES159/259

  30. haptics • Sensory information pertaining to touch • Invaluable to surgeons performing laparoscopic surgery • Tactile v. force feedback • Force feedback: gross forces transmitted to master • Tactile feedback: detailed surface forces transmitted to master ES159/259

  31. Tactile feedback • ‘teletaction’ concept: tactile feedback from catheter ES159/259

  32. Tactile displays • Various morhpologies: • Normal contact • Pneumatic • Pin-based • SMA • Shearing • piezoelectric ES159/259

  33. Next class… • Outline of active research areas • Mobile robot navigation • Sensors and actuators • Computer vision • Microrobotics • Surgical robotics • Grasping ES159/259

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