The Experts below are selected from a list of 207 Experts worldwide ranked by ideXlab platform
Guang-zhong Yang - One of the best experts on this subject based on the ideXlab platform.
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hands on reconfigurable Robotic Surgical Instrument holder arm
Intelligent Robots and Systems, 2016Co-Authors: Piyamate Wisanuvej, Konrad Leibrandt, Jindong Liu, Guang-zhong YangAbstract:The use of conventional Surgical tool holders requires an assistant during positioning and adjustment due to the lack of weight compensation. In this paper, we introduce a Robotic arm system with hands-on control approach. The robot incorporates a force sensor at the end effector which realises tool weight compensation as well as hands-on manipulation. On the operating table, the required workspace can be tight due to a number of Instruments required. There are situations where the Surgical tool is at the desired location but the holder arm pose is not ideal due to space constraints or obstacles. Although the arm is a non-redundant robot because of the limited degrees of freedom, the pseudo-null-space inverse kinematics can be used to constrain a particular joint of the robot to a specific angle while the other joints compensate in order to minimise the tool movement. This allows operator to adjust the arm configuration conveniently together with the weight compensation. Experimental results demonstrated that our Robotic arm can maintain the tool position during reconfiguration significantly more stably than a conventional one.
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Design of a smart 3D-printed wristed Robotic Surgical Instrument with embedded force sensing and modularity
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Carlo A. Seneci, Konrad Leibrand, Piyamate Wisanuvej, Jianzhong Shang, Ara Darzi, Guang-zhong YangAbstract:This paper introduces the design and characterization of a Robotic Surgical Instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed Instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific Instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the Instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the Instrument.
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IROS - Design of a smart 3D-printed wristed Robotic Surgical Instrument with embedded force sensing and modularity
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Carlo A. Seneci, Piyamate Wisanuvej, Jianzhong Shang, Ara Darzi, Konrad Leibrandt, Guang-zhong YangAbstract:This paper introduces the design and characterization of a Robotic Surgical Instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed Instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific Instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the Instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the Instrument.
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IROS - Hands-on reconfigurable Robotic Surgical Instrument holder arm
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Piyamate Wisanuvej, Konrad Leibrandt, Jindong Liu, Guang-zhong YangAbstract:The use of conventional Surgical tool holders requires an assistant during positioning and adjustment due to the lack of weight compensation. In this paper, we introduce a Robotic arm system with hands-on control approach. The robot incorporates a force sensor at the end effector which realises tool weight compensation as well as hands-on manipulation. On the operating table, the required workspace can be tight due to a number of Instruments required. There are situations where the Surgical tool is at the desired location but the holder arm pose is not ideal due to space constraints or obstacles. Although the arm is a non-redundant robot because of the limited degrees of freedom, the pseudo-null-space inverse kinematics can be used to constrain a particular joint of the robot to a specific angle while the other joints compensate in order to minimise the tool movement. This allows operator to adjust the arm configuration conveniently together with the weight compensation. Experimental results demonstrated that our Robotic arm can maintain the tool position during reconfiguration significantly more stably than a conventional one.
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IROS - Rapid manufacturing with selective laser melting for Robotic Surgical tools: Design and process considerations
2015 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2015Co-Authors: Carlo A. Seneci, Jianzhong Shang, Ara Darzi, Guang-zhong YangAbstract:Additive manufacturing is a technology in constant evolution. It is able to produce objects otherwise either impractical or unfavorable for traditional manufacturing technologies, especially in relatively limited quantities. The advancement of Selective Laser Melting (SLM) has made it possible to manufacture functional, production-quality components directly from rapid prototyping for long-term use. This work studies the SLM process and identifies the optimal process parameters for the rapid manufacturing of a miniaturized Robotic Surgical Instrument. The proposed Robotic Instrument has been designed to exploit the advantages of rapid manufacturing and rapid assembly, following a shift from large scale manufacturing of generalized Surgical Instruments to the production of small batches of patient or procedure-specific
Ugur Tumerdem - One of the best experts on this subject based on the ideXlab platform.
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6 axis hybrid sensing and estimation of tip forces torques on a hyper redundant Robotic Surgical Instrument
Intelligent Robots and Systems, 2019Co-Authors: Nural Yilmaz, Merve Bazman, Alaa Alassi, Berke Gur, Ugur TumerdemAbstract:In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic Instrument tip force/torques in Robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) Surgical Robotic forceps prototype. This Surgical robot is composed of two modules with a 7-DOF Kuka IIWA manipulator for performing 4-DOF Remote Centre of Motion (RCM) about the trocar and an articulated 4-DOF parallel wrist/gripper mechanism attached to the distal end of the Kuka robot for intra-corporeal manipulation. The hybrid sensor-based/sensorless method fuses torque estimates from the parallel wrist mechanism with measurements from a force sensor attached between the wrist base and the Kuka tool frame. With this approach it is possible to obtain force/torque estimates on all Cartesian axes (x, y, z, yaw, pitch, roll) of the forceps tip. The prototype is one of the first systems designed for Robotic surgery that can achieve accurate force estimation on all 6 axes of the Instrument tip. Experiment validation results with a force sensor verify the efficacy of the proposed method.
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IROS - 6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument
2019 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2019Co-Authors: Nural Yilmaz, Merve Bazman, Alaa Alassi, Berke Gur, Ugur TumerdemAbstract:In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic Instrument tip force/torques in Robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) Surgical Robotic forceps prototype. This Surgical robot is composed of two modules with a 7-DOF Kuka IIWA manipulator for performing 4-DOF Remote Centre of Motion (RCM) about the trocar and an articulated 4-DOF parallel wrist/gripper mechanism attached to the distal end of the Kuka robot for intra-corporeal manipulation. The hybrid sensor-based/sensorless method fuses torque estimates from the parallel wrist mechanism with measurements from a force sensor attached between the wrist base and the Kuka tool frame. With this approach it is possible to obtain force/torque estimates on all Cartesian axes (x, y, z, yaw, pitch, roll) of the forceps tip. The prototype is one of the first systems designed for Robotic surgery that can achieve accurate force estimation on all 6 axes of the Instrument tip. Experiment validation results with a force sensor verify the efficacy of the proposed method.
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external force torque estimation on a dexterous parallel Robotic Surgical Instrument wrist
Intelligent Robots and Systems, 2018Co-Authors: Nural Yilmaz, Merve Bazman, Ugur TumerdemAbstract:This paper describes a novel sensorless force estimation algorithm for the rigid link parallel wrist mechanism of a Robotic Surgical Instrument. The method utilizes novel reaction force observers (RFOB) in joint space, which are modified disturbance observers (DOB) combined with Neural Networks (NN) for inverse dynamics calculations, to estimate external forces acting on the motors. External force/torque estimation in Cartesian space is achieved by the use of the robot Jacobian. The proposed algorithm is applicable to any back-drivable rigid-link wrist mechanism without the need for force sensors. In this paper, the method is implemented on a novel 3 degree-of-freedom (DOF) parallel Robotic Surgical wrist mechanism that is designed for high dexterity (±90 degrees pitch-yaw rotations, thrust motion) and force/torque estimation. The wrist is actuated extracorporally with 3 rigid push-pull rods and 3 linear motors. With a rigid transmission and high back-drivability, external force/torque estimation can be achieved from the motor position readings utilizing the proposed method. Several experiments were performed on the manufactured prototype of the Instrument and results validate the efficacy of the wrist and estimation method with RMS force/torque estimation error values of 0.0024 Nm in pitch axis, 0.0043 Nm in yaw axis and 0.1866 N in thrust axis.
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IROS - External Force/Torque Estimation on a Dexterous Parallel Robotic Surgical Instrument Wrist
2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018Co-Authors: Nural Yilmaz, Merve Bazman, Ugur TumerdemAbstract:This paper describes a novel sensorless force estimation algorithm for the rigid link parallel wrist mechanism of a Robotic Surgical Instrument. The method utilizes novel reaction force observers (RFOB) in joint space, which are modified disturbance observers (DOB) combined with Neural Networks (NN) for inverse dynamics calculations, to estimate external forces acting on the motors. External force/torque estimation in Cartesian space is achieved by the use of the robot Jacobian. The proposed algorithm is applicable to any back-drivable rigid-link wrist mechanism without the need for force sensors. In this paper, the method is implemented on a novel 3 degree-of-freedom (DOF) parallel Robotic Surgical wrist mechanism that is designed for high dexterity (±90 degrees pitch-yaw rotations, thrust motion) and force/torque estimation. The wrist is actuated extracorporally with 3 rigid push-pull rods and 3 linear motors. With a rigid transmission and high back-drivability, external force/torque estimation can be achieved from the motor position readings utilizing the proposed method. Several experiments were performed on the manufactured prototype of the Instrument and results validate the efficacy of the wrist and estimation method with RMS force/torque estimation error values of 0.0024 Nm in pitch axis, 0.0043 Nm in yaw axis and 0.1866 N in thrust axis.
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AMC - Dexterous and back-drivable parallel Robotic forceps wrist for Robotic surgery
2018 IEEE 15th International Workshop on Advanced Motion Control (AMC), 2018Co-Authors: Merve Bazman, Nural Yilmaz, Ugur TumerdemAbstract:This paper describes the design, kinematic analysis, control architecture and experimental validation of a novel 3- degree-of-freedom (DOF) Robotic Surgical Instrument for use in minimally invasive surgery. This Instrument contains a wrist mechanism that can enter the body through incisions of about 18 mm and that can be actuated extra-corporally with rigid push-pull rods passing through linear bearings in the Instrument shaft. The rigid transmission and parallel architecture of this mechanism also makes it back-drivable and suitable for force estimation and control. With this Instrument, it is possible to achieve and even surpass the 2 DOF bending motion that the human wrist is capable of (90-degree pitch-flexion/extension and yaw-radial/ulnar deviation) and the 1 DOF translation motion in the forward/backward directions. A prototype of the proposed design has been manufactured and assembled and has been controlled with joint space PID controllers with disturbance observers. The results of position control and back-drivability experiments on the system validate our proposal.
Piyamate Wisanuvej - One of the best experts on this subject based on the ideXlab platform.
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hands on reconfigurable Robotic Surgical Instrument holder arm
Intelligent Robots and Systems, 2016Co-Authors: Piyamate Wisanuvej, Konrad Leibrandt, Jindong Liu, Guang-zhong YangAbstract:The use of conventional Surgical tool holders requires an assistant during positioning and adjustment due to the lack of weight compensation. In this paper, we introduce a Robotic arm system with hands-on control approach. The robot incorporates a force sensor at the end effector which realises tool weight compensation as well as hands-on manipulation. On the operating table, the required workspace can be tight due to a number of Instruments required. There are situations where the Surgical tool is at the desired location but the holder arm pose is not ideal due to space constraints or obstacles. Although the arm is a non-redundant robot because of the limited degrees of freedom, the pseudo-null-space inverse kinematics can be used to constrain a particular joint of the robot to a specific angle while the other joints compensate in order to minimise the tool movement. This allows operator to adjust the arm configuration conveniently together with the weight compensation. Experimental results demonstrated that our Robotic arm can maintain the tool position during reconfiguration significantly more stably than a conventional one.
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Design of a smart 3D-printed wristed Robotic Surgical Instrument with embedded force sensing and modularity
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Carlo A. Seneci, Konrad Leibrand, Piyamate Wisanuvej, Jianzhong Shang, Ara Darzi, Guang-zhong YangAbstract:This paper introduces the design and characterization of a Robotic Surgical Instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed Instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific Instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the Instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the Instrument.
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IROS - Design of a smart 3D-printed wristed Robotic Surgical Instrument with embedded force sensing and modularity
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Carlo A. Seneci, Piyamate Wisanuvej, Jianzhong Shang, Ara Darzi, Konrad Leibrandt, Guang-zhong YangAbstract:This paper introduces the design and characterization of a Robotic Surgical Instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed Instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific Instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the Instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the Instrument.
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IROS - Hands-on reconfigurable Robotic Surgical Instrument holder arm
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Piyamate Wisanuvej, Konrad Leibrandt, Jindong Liu, Guang-zhong YangAbstract:The use of conventional Surgical tool holders requires an assistant during positioning and adjustment due to the lack of weight compensation. In this paper, we introduce a Robotic arm system with hands-on control approach. The robot incorporates a force sensor at the end effector which realises tool weight compensation as well as hands-on manipulation. On the operating table, the required workspace can be tight due to a number of Instruments required. There are situations where the Surgical tool is at the desired location but the holder arm pose is not ideal due to space constraints or obstacles. Although the arm is a non-redundant robot because of the limited degrees of freedom, the pseudo-null-space inverse kinematics can be used to constrain a particular joint of the robot to a specific angle while the other joints compensate in order to minimise the tool movement. This allows operator to adjust the arm configuration conveniently together with the weight compensation. Experimental results demonstrated that our Robotic arm can maintain the tool position during reconfiguration significantly more stably than a conventional one.
Nural Yilmaz - One of the best experts on this subject based on the ideXlab platform.
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6 axis hybrid sensing and estimation of tip forces torques on a hyper redundant Robotic Surgical Instrument
Intelligent Robots and Systems, 2019Co-Authors: Nural Yilmaz, Merve Bazman, Alaa Alassi, Berke Gur, Ugur TumerdemAbstract:In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic Instrument tip force/torques in Robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) Surgical Robotic forceps prototype. This Surgical robot is composed of two modules with a 7-DOF Kuka IIWA manipulator for performing 4-DOF Remote Centre of Motion (RCM) about the trocar and an articulated 4-DOF parallel wrist/gripper mechanism attached to the distal end of the Kuka robot for intra-corporeal manipulation. The hybrid sensor-based/sensorless method fuses torque estimates from the parallel wrist mechanism with measurements from a force sensor attached between the wrist base and the Kuka tool frame. With this approach it is possible to obtain force/torque estimates on all Cartesian axes (x, y, z, yaw, pitch, roll) of the forceps tip. The prototype is one of the first systems designed for Robotic surgery that can achieve accurate force estimation on all 6 axes of the Instrument tip. Experiment validation results with a force sensor verify the efficacy of the proposed method.
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IROS - 6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument
2019 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2019Co-Authors: Nural Yilmaz, Merve Bazman, Alaa Alassi, Berke Gur, Ugur TumerdemAbstract:In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic Instrument tip force/torques in Robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) Surgical Robotic forceps prototype. This Surgical robot is composed of two modules with a 7-DOF Kuka IIWA manipulator for performing 4-DOF Remote Centre of Motion (RCM) about the trocar and an articulated 4-DOF parallel wrist/gripper mechanism attached to the distal end of the Kuka robot for intra-corporeal manipulation. The hybrid sensor-based/sensorless method fuses torque estimates from the parallel wrist mechanism with measurements from a force sensor attached between the wrist base and the Kuka tool frame. With this approach it is possible to obtain force/torque estimates on all Cartesian axes (x, y, z, yaw, pitch, roll) of the forceps tip. The prototype is one of the first systems designed for Robotic surgery that can achieve accurate force estimation on all 6 axes of the Instrument tip. Experiment validation results with a force sensor verify the efficacy of the proposed method.
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external force torque estimation on a dexterous parallel Robotic Surgical Instrument wrist
Intelligent Robots and Systems, 2018Co-Authors: Nural Yilmaz, Merve Bazman, Ugur TumerdemAbstract:This paper describes a novel sensorless force estimation algorithm for the rigid link parallel wrist mechanism of a Robotic Surgical Instrument. The method utilizes novel reaction force observers (RFOB) in joint space, which are modified disturbance observers (DOB) combined with Neural Networks (NN) for inverse dynamics calculations, to estimate external forces acting on the motors. External force/torque estimation in Cartesian space is achieved by the use of the robot Jacobian. The proposed algorithm is applicable to any back-drivable rigid-link wrist mechanism without the need for force sensors. In this paper, the method is implemented on a novel 3 degree-of-freedom (DOF) parallel Robotic Surgical wrist mechanism that is designed for high dexterity (±90 degrees pitch-yaw rotations, thrust motion) and force/torque estimation. The wrist is actuated extracorporally with 3 rigid push-pull rods and 3 linear motors. With a rigid transmission and high back-drivability, external force/torque estimation can be achieved from the motor position readings utilizing the proposed method. Several experiments were performed on the manufactured prototype of the Instrument and results validate the efficacy of the wrist and estimation method with RMS force/torque estimation error values of 0.0024 Nm in pitch axis, 0.0043 Nm in yaw axis and 0.1866 N in thrust axis.
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IROS - External Force/Torque Estimation on a Dexterous Parallel Robotic Surgical Instrument Wrist
2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018Co-Authors: Nural Yilmaz, Merve Bazman, Ugur TumerdemAbstract:This paper describes a novel sensorless force estimation algorithm for the rigid link parallel wrist mechanism of a Robotic Surgical Instrument. The method utilizes novel reaction force observers (RFOB) in joint space, which are modified disturbance observers (DOB) combined with Neural Networks (NN) for inverse dynamics calculations, to estimate external forces acting on the motors. External force/torque estimation in Cartesian space is achieved by the use of the robot Jacobian. The proposed algorithm is applicable to any back-drivable rigid-link wrist mechanism without the need for force sensors. In this paper, the method is implemented on a novel 3 degree-of-freedom (DOF) parallel Robotic Surgical wrist mechanism that is designed for high dexterity (±90 degrees pitch-yaw rotations, thrust motion) and force/torque estimation. The wrist is actuated extracorporally with 3 rigid push-pull rods and 3 linear motors. With a rigid transmission and high back-drivability, external force/torque estimation can be achieved from the motor position readings utilizing the proposed method. Several experiments were performed on the manufactured prototype of the Instrument and results validate the efficacy of the wrist and estimation method with RMS force/torque estimation error values of 0.0024 Nm in pitch axis, 0.0043 Nm in yaw axis and 0.1866 N in thrust axis.
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AMC - Dexterous and back-drivable parallel Robotic forceps wrist for Robotic surgery
2018 IEEE 15th International Workshop on Advanced Motion Control (AMC), 2018Co-Authors: Merve Bazman, Nural Yilmaz, Ugur TumerdemAbstract:This paper describes the design, kinematic analysis, control architecture and experimental validation of a novel 3- degree-of-freedom (DOF) Robotic Surgical Instrument for use in minimally invasive surgery. This Instrument contains a wrist mechanism that can enter the body through incisions of about 18 mm and that can be actuated extra-corporally with rigid push-pull rods passing through linear bearings in the Instrument shaft. The rigid transmission and parallel architecture of this mechanism also makes it back-drivable and suitable for force estimation and control. With this Instrument, it is possible to achieve and even surpass the 2 DOF bending motion that the human wrist is capable of (90-degree pitch-flexion/extension and yaw-radial/ulnar deviation) and the 1 DOF translation motion in the forward/backward directions. A prototype of the proposed design has been manufactured and assembled and has been controlled with joint space PID controllers with disturbance observers. The results of position control and back-drivability experiments on the system validate our proposal.
D. A. Taliaferro - One of the best experts on this subject based on the ideXlab platform.
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Initial clinical experience with a partly autonomous Robotic Surgical Instrument server
Surgical Endoscopy And Other Interventional Techniques, 2006Co-Authors: M. R. Treat, S. E. Amory, P. E. Downey, D. A. TaliaferroAbstract:Background The authors believe it would be useful to have Surgical robots capable of some degree of autonomous action in cooperation with the human members of a Surgical team. They believe that a starting point for such development would be a system for delivering and retrieving Instruments during a Surgical procedure. Methods The described robot delivers Instruments to the surgeon and retrieves the Instruments when they are no longer being used. Voice recognition software takes in requests from the surgeon. A mechanical arm with a gripper is used to handle the Instruments. Machine-vision cameras locate the Instruments after the surgeon puts them down. Artificial intelligence software makes decisions about the best response to the surgeon’s requests. Results A robot was successfully used in surgery for the first time June 16, 2005. The operation involved excision of a benign lipoma. The procedure lasted 31 min, during which time the robot performed 16 Instrument deliveries and 13 Instrument returns with no significant errors. The average time between verbal request and delivery of an Instrument was 12.4 s. Conclusions The described robot is capable of delivering Instruments to a surgeon at command and can retrieve them independently using machine vision. This robot, termed a “Surgical Instrument server,” represents a new class of information-processing machines that will relieve the operating room team of repetitive tasks and allow the members to focus more attention on the patient.
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Initial clinical experience with a partly autonomous Robotic Surgical Instrument server
Surgical endoscopy, 2006Co-Authors: M. R. Treat, S. E. Amory, P. E. Downey, D. A. TaliaferroAbstract:Background The authors believe it would be useful to have Surgical robots capable of some degree of autonomous action in cooperation with the human members of a Surgical team. They believe that a starting point for such development would be a system for delivering and retrieving Instruments during a Surgical procedure.
