Surgical Robot

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Blake Hannaford - One of the best experts on this subject based on the ideXlab platform.

  • Utilizing Elasticity of Cable-Driven Surgical Robot to Estimate Cable Tension and External Force
    IEEE Robotics and Automation Letters, 2017
    Co-Authors: Mohammad Haghighipanah, Muneaki Miyasaka, Blake Hannaford
    Abstract:

    Cable-driven Robots enable compact design by allowing actuators to be mounted away from joints. This kind of actuation is desired in Surgical Robots. The cables in these Robots must remain under tension at all times in order to have optimum performance. Thus, the knowledge of initial value of cable tension is significant. Moreover, in surgery, haptic feedback is vital for diagnosis of healthy tissue and to prevent damaging tissue with excessive force. In this paper, cable pretension was estimated indirectly by estimating stiffness parameter of cables. Then, external forces acting on the Robot were estimated in all four quadrants by using cable stretch and dynamic-based methods utilizing system dynamics and unscented Kalman filter (UKF). We assessed the effectiveness of these methods on the third link of Raven-II Surgical Robot platform. From experiments with the tension estimation technique, it can be determined if the cable pretension is in the safe range. Also, both the cable stretch and UKF-based methods can be used to estimate external forces on all quadrants.

  • Improving position precision of a servo-controlled elastic cable driven Surgical Robot using Unscented Kalman Filter
    IEEE International Conference on Intelligent Robots and Systems, 2015
    Co-Authors: Mohammad Haghighipanah, Muneaki Miyasaka, Yangming Li, Blake Hannaford
    Abstract:

    Cable driven power transmission is popular in many manipulator applications including medical arms. In spite of advantages obtained by removing motors from the mechanism, cable transmission introduces higher non-linearity and more uncertainties such as cable stretch and cable coupling. In order to improve the control precision and robustness of the Raven-II Surgical Robot, particularly for automation applications, the Unscented Kalman Filter (UKF) was adopted for state estimation. The UKF estimated state variables of the Raven-II dynamic model from sensor data. The dual UKF was used offline to estimate cable coupling parameters. The experimental results showed that the proposed method improved joint position estimation precision and the estimation consistency, especially on the more elastic links. The improvements for links 2 and 3 of the Raven were 36.76%, and 62.99%, respectively. For link 1 the improvement was 1.43% because the transmission is very stiff.

  • Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree
    Proceedings - IEEE International Conference on Robotics and Automation, 2015
    Co-Authors: Danying Hu, Yuanzheng Gong, Blake Hannaford, Eric J Seibel
    Abstract:

    Medical Robots have been widely used to assist surgeons to carry out dexterous Surgical tasks via various ways. Most of the tasks require surgeon’s operation directly or indirectly. Certain level of autonomy in Robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of Robot: high dexterity and accuracy. This paper presents a semi-autonomous neuroSurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole Surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous Robotic surgery, (2) modeling and implementing the semi-autonomous Surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and Robot performance analysis.

  • ICRA - Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree
    IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2015
    Co-Authors: Yuanzheng Gong, Blake Hannaford, Eric J Seibel
    Abstract:

    Medical Robots have been widely used to assist surgeons to carry out dexterous Surgical tasks via various ways. Most of the tasks require surgeon's operation directly or indirectly. Certain level of autonomy in Robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of Robot: high dexterity and accuracy. This paper presents a semi-autonomous neuroSurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole Surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous Robotic surgery, (2) modeling and implementing the semi-autonomous Surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and Robot performance analysis.

  • Teleoperation of a Surgical Robot via Airborne Wireless Radio and Transatlantic Internet Links
    2007
    Co-Authors: Mitchell J. Lum H., Jacob Rosen, Ganesh Sankaranarayanan, Diana C. Friedman W., Hawkeye H. King I., Regina Donlin, Timothy Broderick J., Mika Sinanan N., Blake Hannaford
    Abstract:

    Robotic assisted surgery generates the possibility of remote operation between surgeon and patient. We need better understanding of the engineering issues involved in operating a Surgical Robot in remote locations and through novel communication links between surgeon and surgery site. This paper describes two recent experiments in which we tested the RAVEN, a new prototype Surgical Robot manipulation system, in field and laboratory conditions. In the first experiment, the RAVEN was deployed in a pasture and ran on generator power. Telecommunication with the Surgical control station was provided by a novel airborne radio link sup- ported by an unmanned aerial vehicle. In the second experiment, the RAVEN was teleoperated via Internet between Imperial College in London and the BioRobotics Lab at the University of Washington in Seattle. Data are reported on surgeon com- pletion times for basic tasks and on network latency experience. The results are a small step towards teleoperated Surgical Robots which can be rapidly deployed in emergency situations in the field

Eric J Seibel - One of the best experts on this subject based on the ideXlab platform.

  • Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree
    Proceedings - IEEE International Conference on Robotics and Automation, 2015
    Co-Authors: Danying Hu, Yuanzheng Gong, Blake Hannaford, Eric J Seibel
    Abstract:

    Medical Robots have been widely used to assist surgeons to carry out dexterous Surgical tasks via various ways. Most of the tasks require surgeon’s operation directly or indirectly. Certain level of autonomy in Robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of Robot: high dexterity and accuracy. This paper presents a semi-autonomous neuroSurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole Surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous Robotic surgery, (2) modeling and implementing the semi-autonomous Surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and Robot performance analysis.

  • ICRA - Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree
    IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2015
    Co-Authors: Yuanzheng Gong, Blake Hannaford, Eric J Seibel
    Abstract:

    Medical Robots have been widely used to assist surgeons to carry out dexterous Surgical tasks via various ways. Most of the tasks require surgeon's operation directly or indirectly. Certain level of autonomy in Robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of Robot: high dexterity and accuracy. This paper presents a semi-autonomous neuroSurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole Surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous Robotic surgery, (2) modeling and implementing the semi-autonomous Surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and Robot performance analysis.

Dmitry Oleynikov - One of the best experts on this subject based on the ideXlab platform.

  • Usability assessment of two different control modes for the master console of a laparoscopic Surgical Robot
    Journal of Healthcare Engineering, 2012
    Co-Authors: Xiaoli Zhang, Carl A. Nelson, Dmitry Oleynikov
    Abstract:

    The objective of this study is to evaluate potential interface control modes for a compact four-degree-of-freedom (4-DOF) Surgical Robot. The goal is to improve Robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1) a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation), and (2) an unconstrained Cartesian input interface mapping more directly to the Surgical tool tip motions. Subjects (n = 5) successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with speed roughly equal to that achieved in similar manual procedures, and without a steep learning curve. The Robot control was evaluated through bench-top tests and a subsequent qualitative questionnaire (n = 15). The results suggest that the unconstrained control mode was preferred for both camera guidance and tool manipulations.

  • Workspace and force capabilities of a miniature multi-functional Surgical Robot
    IEEE Transactions on Biomedical Engineering, 2010
    Co-Authors: Kyle W. Strabala, Ryan Mccormick, Tyler D. Wortman, Amy Lehman, Shane M. Farritor, Dmitry Oleynikov
    Abstract:

    This paper describes the capabilities of a miniature multi-functional in vivo Robot designed and developed for Laparoendoscopic Single-Site Surgery (LESS). The paper outlines several competing design criteria including Robot size, workspace volume, endpoint speeds, and endpoint forces. In this paper, the Robot is evaluated according to these criteria. The workspace is described and the maximum no-load endpoint speeds and maximum attainable endpoint forces are presented. Finally, the Robot capabilities are discussed, related to medical applications, and demonstrated in an animal surgery.Copyright © 2010 by ASME

  • Dexterous Miniature In Vivo Surgical Robot for Long Duration Space Flight
    AIAA SPACE 2008 Conference & Exposition, 2008
    Co-Authors: Nathan A. Wood, Amy Lehman, Dmitry Oleynikov, Jason Dumpert, Shane M. Farritor
    Abstract:

    Long duration human space exploration will require the capabilities to perform surgery in emergency situations. Robotic and teleRobotic Surgical capabilities may be of significant use in improving medical care in remote and harsh environments, such as space, where minimally invasive surgery (MIS) can significantly reduce Surgical risk. Surgical Robots developed for MIS, while successful in the operating room, remain large, expensive, and require significant support personnel making them ineffectual in space exploration. In vivo Surgical Robots that function entirely inside the patient, have been shown to be effective as assistants in MIS, but were previously unable to perform Surgical interventions. This paper presents a dexterous in vivo Surgical Robot that possesses the potential to perform teleoperated minimally invasive procedures. This potential is well suited for space exploration as the in vivo approach limits the size of the Robot as compared to existing Surgical Robotic technology.

  • Recent in vivo Surgical Robot and mechanism developments
    Surgical Endoscopy and Other Interventional Techniques, 2007
    Co-Authors: Mark E Rentschler, Dmitry Oleynikov
    Abstract:

    The Surgical landscape is quickly changing because of the major driving force of Robotics. Well-established technology that provides Robotic assistance from outside the patient may soon give way to alternative approaches that place the Robotic mechanisms inside the patient, whether through traditional laparoscopic ports or through other, natural orifices. While some of this technology is still being developed, other concepts are being evaluated through clinical trials. This article examines the state of the art in Surgical Robots and mechanisms by providing an overview of the ex vivo Robotic systems that are commercially available to in vivo mechanisms, and Robotic assistants that are being tested in animal models.

Danying Hu - One of the best experts on this subject based on the ideXlab platform.

  • Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree
    Proceedings - IEEE International Conference on Robotics and Automation, 2015
    Co-Authors: Danying Hu, Yuanzheng Gong, Blake Hannaford, Eric J Seibel
    Abstract:

    Medical Robots have been widely used to assist surgeons to carry out dexterous Surgical tasks via various ways. Most of the tasks require surgeon’s operation directly or indirectly. Certain level of autonomy in Robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of Robot: high dexterity and accuracy. This paper presents a semi-autonomous neuroSurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole Surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous Robotic surgery, (2) modeling and implementing the semi-autonomous Surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and Robot performance analysis.

Yuanzheng Gong - One of the best experts on this subject based on the ideXlab platform.

  • Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree
    Proceedings - IEEE International Conference on Robotics and Automation, 2015
    Co-Authors: Danying Hu, Yuanzheng Gong, Blake Hannaford, Eric J Seibel
    Abstract:

    Medical Robots have been widely used to assist surgeons to carry out dexterous Surgical tasks via various ways. Most of the tasks require surgeon’s operation directly or indirectly. Certain level of autonomy in Robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of Robot: high dexterity and accuracy. This paper presents a semi-autonomous neuroSurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole Surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous Robotic surgery, (2) modeling and implementing the semi-autonomous Surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and Robot performance analysis.

  • ICRA - Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree
    IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2015
    Co-Authors: Yuanzheng Gong, Blake Hannaford, Eric J Seibel
    Abstract:

    Medical Robots have been widely used to assist surgeons to carry out dexterous Surgical tasks via various ways. Most of the tasks require surgeon's operation directly or indirectly. Certain level of autonomy in Robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of Robot: high dexterity and accuracy. This paper presents a semi-autonomous neuroSurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole Surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous Robotic surgery, (2) modeling and implementing the semi-autonomous Surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and Robot performance analysis.