eurobot 2009 - control methodologies for endoscope navigation in robotized laparoscopic surgery

Enrique Bauzano Nuñez ebauzano@uma.es

EUROBOT Conference 2009

CONTROL METHODOLOGIES FOR ENDOSCOPE NAVIGATION IN ROBOTIZED LAPAROSCOPIC

SURGERY

Enrique Bauzano Núñez, Dr. Víctor Muñoz MartínezDra. Isabel García Morales, Belén Estebanez Campos

Dpto. Ingeniería de Sistemas y Automáticahttp://www.isa.uma.es

Universidad de Málaga (Spain)

Control Methods for Endoscope Navigation in Robotized Lap. Surgery

OUTLINE

I. Introduction

II. Laparoscopic Navigation Problem

III.Force Interaction Model on Active Wrists

IV.Control Strategy

V. Implantation and Experiments

VI.Conclusions and Future Works

I. INTRODUCTION

I. Introduction

Laparoscopic Surgery: “Accessing to the abdominal cavity with especial long instruments through small incisions.”

LAPAROSCOPIC SURGERY

Advantages Lessen recovery time

Limit post-operative complications

Lower scars

Constraints Movement limitations

Loss of touch and 3D perception

Hand-eye coordination problems

I. Introduction

Proposal: “Solve the motion problem for a laparoscopic surgery robot assistant.”

GLOBE-SHAPED MOVEMENTS

{I} Fulcrum point Orientation angle Altitude angle External distance

ROBOTIC WRISTS COMPARATIVE

• Null forces on abdomen• Precision depends on fulcrum accuracy

• Null forces on abdomen• Special instruments needed• Previous calibration• Voluminous mechanisms

• No additional mechanisms on wrist• No special instruments needed• Low volume• May apply forces on abdomen

I. Introduction

II. LAPAROSCOPIC NAVIGATIONPROBLEM

PASSIVE WRISTS MECHANISMII. Laparoscopic Navigation Problem

External supply is not necessary.

Controller is integrated on the arm itself.

Adaptable to operating room requirements.

NAVIGATION PROBLEM ON PASSIVE WRISTS

ANavigation Problem: Move the endoscope from A to B an altitude angle .

I0 Initial fulcrum (desired)

C Estimated fulcrum Orientation error

e External distance error

e Altitude error

ACTIVE WRISTS MECHANISMII. Laparoscopic Navigation Problem

Force Sensor

NAVIGATION PROBLEM ON ACTIVE WRISTS

Navigation Problem: Move the endoscope from A to B an altitude angle .

I0 Initial fulcrum (desired)

I Actual fulcrum

C Estimated fulcrum

e External distance error

es Separation error

III. FORCE INTERACTION MODEL ON ACTIVE WRISTS

ENDOSCOPE-ABDOMEN INTERACTION MODEL

III. Force Interaction Model on Active Wrists

rs FFgF m

FORCES MODEL

Stiffness Coefficient

0 0.5 1 1.5-3

Time (seconds)

Real Estimated

Altitude (degrees)Time (seconds)

F r (New

ss eF NFr

III. Force Interaction Model on Active Wrists

Friction Coefficient

IV. CONTROL STRATEGY

PASSIVE WRISTS: CONTROL SCHEMEIV. Control Strategy

Robot & Endoscope

Trajectory Generator Planner

Control PI

Geometrical Estimator

Actual Endoscope Location

Required Spherical Trajectory

Endoscope Desired Location

Estimated External Distance

Real External Distance

ACTIVE WRISTS: NAVIGATION STRATEGY

1. Rotate around estimated fulcrumFulcrum displacement over the abdomen

2. Passive Wrist BehaviorEndoscope rotation over the wrist to reduce fulcrum displacement

3. Altitude angle correctionRecover desired altitude angle

IV. Control Strategy

ACTIVE WRISTS: PASSIVE WRIST BEHAVIOR (I)IV. Control Strategy

Trajectory Generator Planner

Robot & Endoscope

Abdomen Interaction

Force Sensor

Separation estimator

External Distance estimator

KFriction + Weight

Filtering

Planned Movement

Followed Altitude

Abdomen Force Fs Force F

Planned Altitude p

ACTIVE WRISTS: PASSIVE WRIST BEHAVIOR (II)IV. Control Strategy

Planner– Calculates the required trajectory with a first order system behavior– Acts faster than correction angle loop

Robot: Performs the controlled movement

Endoscope-Abdomen Interaction: Generates abdominal forces

Force Sensor: Measurement of forces

Separation Estimator– Depends on the stiffness estimation– Its value remains the same if Fs < Fthreshold

External Distance Estimator– Result of Force-Torque balance– Its value remains the same if Fs < Fthreshold

s LekLekL )1()()1(

ACTIVE WRISTS: SPHERICAL CONTROL LOOPIV. Control Strategy

Passive Wrist Behavior Robot

Followed Altitude

Control PI

Desired Altitude d

Planned Altitude p

Controlled Altitude c

V. IMPLANTATION AND EXPERIMENTS

PASSIVE WRIST IMPLANTATION (I)V. Implantation and Experiments

Surgeon Voice Recognizer Control Software

Controller

ERM Robot

ACTIVE WRIST IMPLANTATION (II)V. Implantation and Experiments

ACTIVE WRIST IMPLANTATION (I)V. Implantation and Experiments

Movement Command

Virtual-PA10 simulator (Matlab)

Matlab-C++ DLL Library

linker

C++ Library PA-10 ControllerPA-10 Robot

ACTIVE WRIST IMPLANTATION (II)V. Implantation and Experiments

EXPERIMENTAL RESULTSV. Implantation and Experiments

0 1 2 3 4 5 6-49

Time (seconds)

Desired Followed

0 1 2 3 4 5 6 7 8 9-49

Time (seconds)

Actual trajectoryDesired trajectoryRequired trajectory

Passive Wrists Active Wrists

0 1 2 3 4 5 6 7 8 993.5

Time (seconds)

Actual trajectoryDesired trajectoryRequired trajectory

0 2 4 6 8 10266

Time (seconds)

EstimatedReal

0 2 4 6 8 100

Time (seconds)

VI. CONCLUSIONS AND FUTURE WORKS

ACTIVE VS. PASSIVE WRISTS

Almost no fluctuations to reach steady state on altitude angle

No fluctuations on orientation angle

May be used to apply efforts with surgery tools

LAST IMPROVEMENTS ON ACTIVE WRISTS

System does not depend on friction force

Stiffness can be now measured on-line, not model needed

New control methodology for stability analysis

V. Conclusions and Future Works

FUTURE WORKS

Active tasks during an intervention

Development of semi-autonomous robotic surgeon assistants

Like remote-centered wrists, useful on tele-surgery fields

V. Conclusions and Future Works

THANKS FOR YOUR ATTENTION!!!

eurobot 2009 - control methodologies for endoscope navigation in robotized laparoscopic surgery

Health & Medicine

25 implementation of an intelligent robotized...

eurobot conference 2008 -...

25 implementation of an intelligent robotized gmaw welding

icm 2009 - active wrists endoscope navigation in robotized...

an autonomous robotized system for a thermographic camera

robotized infrared thermography for the inspection of

robotized polishing and deburring with force feedback...

curriculum vitae extenso · 2015-11-11 · título: control...

eurobot 2010 feed the world - planète sciences · 2009....

endoscope disinfection

robotized camera system for real-time coaching of

endoscope overview

thermal infrared endoscope

high definition industrial endoscope

- eurobot - page...

computer vision for eurobot 2013 - ostancomputer vision for...

endoscope reprocessing: problem and trends. difficulty of...

endoscope inservice

- eurobot - page 1 - planète sciences · - eurobot - page...

eurobot 2008 rules english version