Top

International Journal of Computer Assisted Radiology and Surgery

Published in:

Open Access 01-01-2020 | Original Article

A microsurgical robot research platform for robot-assisted microsurgery research and training

Authors: Dandan Zhang, Junhong Chen, Wei Li, Daniel Bautista Salinas, Guang-Zhong Yang

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 1/2020

Abstract

Purpose

Ocular surgery, ear, nose and throat surgery and neurosurgery are typical types of microsurgery. A versatile training platform can assist microsurgical skills development and accelerate the uptake of robot-assisted microsurgery (RAMS). However, the currently available platforms are mainly designed for macro-scale minimally invasive surgery. There is a need to develop a dedicated microsurgical robot research platform for both research and clinical training.

Methods

A microsurgical robot research platform (MRRP) is introduced in this paper. The hardware system includes a slave robot with bimanual manipulators, two master controllers and a vision system. It is flexible to support multiple microsurgical tools. The software architecture is developed based on the robot operating system, which is extensible at high-level control. The selection of master–slave mapping strategy was explored, while comparisons were made between different interfaces.

Results

Experimental verification was conducted based on two microsurgical tasks for training evaluation, i.e. trajectory following and targeting. User study results indicated that the proposed hybrid interface is more effective than the traditional approach in terms of frequency of clutching, task completion time and ease of control.

Conclusion

Results indicated that the MRRP can be utilized for microsurgical skills training, since motion kinematic data and vision data can provide objective means of verification and scoring. The proposed system can further be used for verifying high-level control algorithms and task automation for RAMS research.

Coulson CJ, Reid AP, Proops DW, Brett PN (2007) ENT challenges at the small scale. Int J Med Robot Comput Assist Surg 3(2):91–6CrossRef

Olds K, Hillel A, Kriss J, Nair A, Kim H, Cha E, Curry M, Akst L, Yung R, Richmon J, Taylor R (2012) A robotic assistant for trans-oral surgery: the robotic endo-laryngeal flexible (Robo-ELF) scope. J Robot Surg 6(1):13–8CrossRef

Simaan N, Yasin RM, Wang L (2018) Medical technologies and challenges of robot-assisted minimally invasive intervention and diagnostics. Ann Rev Control Robot Auton Syst 1:465–90CrossRef

De Nil LF, Lafaille SJ (2002) Jaw and finger movement accuracy under visual and nonvisual feedback conditions. Percept Motor Skills 95(3suppl):1129–40CrossRef

Katz RD, Rosson GD, Taylor JA, Singh NK (2005) Robotics in microsurgery: use of a surgical robot to perform a free flap in a pig. Microsurg Off J Int Microsurg Soc Eur Fed Soc Microsurg 25(7):566–9

Krapohl BD, Reichert B, Machens HG, Mailander P, Siemionow M, Zins JE (2001) Computer-guided microsurgery: surgical evaluation of a telerobotic arm. Microsurg Off J Int Microsurg Soc Eur Fed Soc Microsurg 21(1):22–9

Wei W, Goldman R, Simaan N, Fine H, Chang S (2007) Design and theoretical evaluation of micro-surgical manipulators for orbital manipulation and intraocular dexterity. In: Proceedings 2007 IEEE international conference on robotics and automation. IEEE, pp 3389–3395

Wei W, Goldman RE, Fine HF, Chang S, Simaan N (2009) Performance evaluation for multi-arm manipulation of hollow suspended organs. IEEE Trans Robot 25(1):147CrossRef

Ueta T, Yamaguchi Y, Shirakawa Y, Nakano T, Ideta R, Noda Y, Morita A, Mochizuki R, Sugita N, Mitsuishi M, Tamaki Y (2009) Robot-assisted vitreoretinal surgery: development of a prototype and feasibility studies in an animal model. Ophthalmology 116(8):1538–43CrossRef

10.

Miroir M, Nguyen Y, Szewczyk J, Mazalaigue S, Ferrary E, Sterkers O, Grayeli AB (2010) RobOtol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ international conference on intelligent robots and systems. IEEE, pp 850–856

11.

Anso J, Scheidegger O, Wimmer W, Gavaghan K, Gerber N, Schneider D, Hermann J, Rathgeb C, Dür C, Rösler KM, Mantokoudis G (2018) Neuromonitoring during robotic cochlear implantation: initial clinical experience. Ann Biomed Eng 46(10):1568–81CrossRef

12.

Hannaford B, Rosen J, Friedman DW, King H, Roan P, Cheng L, Glozman D, Ma J, Kosari SN, White L (2012) Raven-II: an open platform for surgical robotics research. IEEE Trans Biomed Eng 60(4):954–9CrossRef

13.

Kazanzides P, Chen Z, Deguet A, Fischer GS, Taylor RH, DiMaio SP (2014) An open-source research kit for the da Vinci®Surgical System. In: 2014 IEEE international conference on robotics and automation (ICRA). IEEE, pp 6434–6439

14.

Quigley M, Conley K, Gerkey B, Faust J, Foote T, Leibs J, Wheeler R, Ng AY (2009) ROS: an open-source robot operating system. In: ICRA workshop on open source software, vol 3, no. 3.2, p 5

15.

Vitiello V, Lee SL, Cundy TP, Yang GZ (2012) Emerging robotic platforms for minimally invasive surgery. IEEE Rev Biomed Eng 6:111–26CrossRef

16.

Silva AJ, Ramirez OA, Vega VP, Oliver JP (2009) Phantom omni haptic device: kinematic and manipulability. In: 2009 Electronics, robotics and automotive mechanics conference (CERMA). IEEE, pp 193–198

17.

Sakr S, Daunizeau T, Reversat D, Régnier S, Haliyo S (2018) An ungrounded master device for tele-microassembly. In: 2018 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 1–9

18.

Zhang D, Xiao B, Huang B, Zhang L, Liu J, Yang GZ. A handheld master controller for robot-assisted microsurgery. In: 2019 IEEE/RSJ international conference on intelligent robots and systems

19.

Itkowitz B, Handley J, Zhu W (2005) The OpenHaptics/spl trade/toolkit: a library for adding 3D Touch/spl trade/navigation and haptics to graphics applications. In: First joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems. World haptics conference. IEEE, pp 590–591

20.

Ahn J, Hwang M, Baek D, Kim H, Kwon DS (2018) Comparison of master–slave mapping strategies for efficient robotic endoscopy. In: The Hamlyn symposium on medical robotics 2018. UK-Robotics and Autonomous Systems (UK-RAS) Network

21.

Pan B, Qu X, Ai Y, Fu Y, Liu C (2016) Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery. Comput Assist Surg 21(supp 1):69–77CrossRef

22.

Kim I, Kanno T, Tadano K, Kawashima K (2015) Research on a master manipulator using an isometric interface for translation in robotic surgery. Int J Adv Robot Syst 12(9):128CrossRef

23.

Zhang D, Xiao B, Huang B, Zhang L, Liu J, Yang GZ (2018) A self-adaptive motion scaling framework for surgical robot remote control. IEEE Robot Autom Lett 4(2):359–66CrossRef

24.

Kamei Y, Tanaka S, Harada K, Baek Y, Ida Y, Sora S, Morita A, Sugita N, Mitsuishi M (2012) Study on master manipulator design parameters for robotic microsurgery. In: 2012 4th IEEE RAS and EMBS international conference on biomedical robotics and biomechatronics (BioRob). IEEE, pp 847–852

Title: A microsurgical robot research platform for robot-assisted microsurgery research and training
Authors: Dandan Zhang
Junhong Chen
Wei Li
Daniel Bautista Salinas
Guang-Zhong Yang
Publication date: 01-01-2020
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 1/2020
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-019-02074-1

Keynote webinar | Spotlight on medication adherence

Springer Medicine

A microsurgical robot research platform for robot-assisted microsurgery research and training

Abstract

Purpose

Methods

Results

Conclusion

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Abstract

Purpose

Methods

Results

Conclusion

Please log in to get access to this content

Other articles of this Issue 1/2020

Acknowledgement to reviewers

Combining position-based dynamics and gradient vector flow for 4D mitral valve segmentation in TEE sequences

Predicting the quality of surgical exposure using spatial and procedural features from laparoscopic videos

A comparison of thin-plate spline deformation and finite element modeling to compensate for brain shift during tumor resection

An approach to automated measuring morphological parameters of proximal femora on three-dimensional models

Interactive exploration of a 3D intracranial aneurysm wall model extracted from histologic slices