Surgical Slave with a Novel Method for Force Sensing and Trocar Friction Reduction

Abstract:

Minimally invasive surgery (MIS) has had a major impact on modern day surgery, and has become the standard for various procedures. MIS however suffers from various impediments, and as a result, has seen robotic surgery gain rapid popularity. It is yet to be seen whether robotic surgery will cause another major paradigm shift, as these systems still require large costs, take up too much space, have an unclear cost benefit, and provide little or no force feedback. This paper presents a slave design for MIS, and a brief literature review on design requirements is given. A novel tool design for force/torque sensing is discussed, which uses an overcoat method to reduce measurement corruption at the trocar, and uses a single external 6-DOF f/t sensor.

• Periodical: Advanced Materials Research (Volumes 622-623)
• Pages: 1362-1367
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.622-623.1362
• Online since: December 2012
• Authors: W. Schwalb, Bijan Shirinzadeh, J. Smith
• Keywords: Force Feedback, Novel Method, Surgical Slave

References

[1] G. Dogangil, B. L. Davies, and F. Rodriguez y Baena, A review of medical robotics for minimally invasive soft tissue surgery, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, vol. 224, pp.653-679, May 1, 2010 (2010).

DOI: 10.1243/09544119jeim591

[2] C. R. Wagner, N. Stylopoulos, and R. D. Howe, The role of force feedback in surgery: analysis of blunt dissection, in Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002. Proceedings. 10th Symposium on, 2002, pp.68-74.

DOI: 10.1109/haptic.2002.998943

[3] (2012). Investor FAQ. Available: http: /phx. corporate-ir. net/phoenix. zhtml?c=122359&p=irol-faq.

[4] S. R. Badaan and D. Stoianovici, Robotic Systems: Past, Present, and Future Robotics in Genitourinary Surgery, A. K. Hemal and M. Menon, Eds., ed: Springer London, 2011, pp.655-665.

DOI: 10.1007/978-1-84882-114-9_59

[5] C. -H. Kuo, J. S. Dai, and P. Dasgupta, Kinematic design considerations for minimally invasive surgical robots: an overview, The International Journal of Medical Robotics and Computer Assisted Surgery, pp. n/a-n/a, (2012).

DOI: 10.1002/rcs.453

[6] M. M. Dalvand and B. Shirinzadeh, Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints: A Case Study, IJIMR, vol. 2, pp.28-40, (2012).

DOI: 10.4018/ijimr.2012010102

[7] L. Hwee Choo, B. Shirinzadeh, and J. Smith, Sliding-Mode Enhanced Adaptive Motion Tracking Control of Piezoelectric Actuation Systems for Micro/Nano Manipulation, Control Systems Technology, IEEE Transactions on, vol. 16, pp.826-833, (2008).

DOI: 10.1109/tcst.2007.916301

[8] Y. Tian, B. Shirinzadeh, and D. Zhang, A flexure-based mechanism and control methodology for ultra-precision turning operation, Precision Engineering, vol. 33, pp.160-166, (2009).

DOI: 10.1016/j.precisioneng.2008.05.001

[9] P. Joice, G. B. Hanna, and A. Cuschieri, Errors enacted during endoscopic surgery—a human reliability analysis, Applied Ergonomics, vol. 29, pp.409-414, (1998).

DOI: 10.1016/s0003-6870(98)00016-7

[10] Y. Zhong, B. Shirinzadeh, J. Smith, and C. Gu, An electromechanical based deformable model for soft tissue simulation, Artificial intelligence in medicine, vol. 47, pp.275-288, (2009).

DOI: 10.1016/j.artmed.2009.08.003

[11] D. Callaghan, M. McGrath, and E. Coyle, Force Measurement Methods in Telerobotic Surgery: Implications for End-Effector Manufacture., in Proceedings of the 25th International Manufacturing Conference (IMC25), Dublin Institute of Technology, 2008, pp.389-398.

[12] S. Shimachi, S. Hirunyanitiwatna, Y. Fujiwara, A. Hashimoto, and Y. Hakozaki, Adapter for contact force sensing of the da Vinci® robot, The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 4, pp.121-130, (2008).

DOI: 10.1002/rcs.187

[13] N. Zemiti, G. Morel, T. Ortmaier, and N. Bonnet, Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery, Mechatronics, IEEE/ASME Transactions on, vol. 12, pp.143-153, (2007).

DOI: 10.1109/tmech.2007.892831

[14] D. R. Karwa, A Textbook of Machine Design, Second ed.: Laxmi Publications(P) LTD, (2006).

[15] M. J. H. Lum, D. Trimble, J. Rosen, K. Fodero, H. H. King, G. Sankaranarayanan, J. Dosher, R. Leuschke, B. Martin-Anderson, M. N. Sinanan, and B. Hannaford, Multidisciplinary Approach for Developing a New Minimally Invasive Surgical Robotic System, in Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on, 2006, pp.841-846.

DOI: 10.1109/biorob.2006.1639195

[16] A. J. Madhani, Design of teleoperated surgical instruments for minimally invasive surgery, Mechanical Engineering, Massachusetts Institute of Technology, (1998).

[17] GeneralCarbide. (2008, 10/02/2012). The Designer's Guide to Tungsten Carbide. Available: http: /www. generalcarbide. co. uk/design-guide. php.

[18] (10/12/2011). EMT 210. Available: http: /www. extramet. net/gradechart210. html.