Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat

Nabil Simaan, Kai Xu, Wei Wei, Ankur Kapoor, Peter Kazanzides, Russell H Taylor, Paul Flint

Research output: Contribution to journalArticle

Abstract

In this paper we present the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with 20 joint-space Degrees-of-Freedom (DoFs), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such as the throat. The telerobotic slave uses novel continuum robots that use multiple super-elastic backbones for actuation and structural integrity. We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. A method for actuation compensation is presented in order to overcome uncertainties of modeling, friction, and backlash. This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. The tiered approach for actuation compensation uses compensation in both joint space and configuration space of the continuum robots. These hybrid actuation compensation schemes use intrinsic model information and external data through a recursive linear estimation algorithm and involve compensation using configuration space and joint space variables. Experimental results validate the ability of our integrated telemanipulation system through experiments of suturing and knot tying in confined spaces.

Original languageEnglish (US)
Pages (from-to)1134-1153
Number of pages20
JournalInternational Journal of Robotics Research
Volume28
Issue number9
DOIs
StatePublished - Sep 2009

Fingerprint

Telerobotics
Minimally Invasive Surgery
Surgery
Robot
Robots
Configuration Space
Kinematics
Friction
Continuum
Recursive Estimation
Linear Estimation
Linear Algorithm
Design
Compensation and Redress
Snakes
Cancel
Structural integrity
Integrated System
Estimation Algorithms
Backbone

Keywords

  • Continuum robots
  • Dexterity enhancement
  • Redundancy resolution
  • Suturing
  • Telemanipulation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Software
  • Artificial Intelligence
  • Applied Mathematics
  • Modeling and Simulation

Cite this

Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat. / Simaan, Nabil; Xu, Kai; Wei, Wei; Kapoor, Ankur; Kazanzides, Peter; Taylor, Russell H; Flint, Paul.

In: International Journal of Robotics Research, Vol. 28, No. 9, 09.2009, p. 1134-1153.

Research output: Contribution to journalArticle

Simaan, Nabil ; Xu, Kai ; Wei, Wei ; Kapoor, Ankur ; Kazanzides, Peter ; Taylor, Russell H ; Flint, Paul. / Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat. In: International Journal of Robotics Research. 2009 ; Vol. 28, No. 9. pp. 1134-1153.
@article{e67a20fa917e42dea203435e883de6a5,
title = "Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat",
abstract = "In this paper we present the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with 20 joint-space Degrees-of-Freedom (DoFs), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such as the throat. The telerobotic slave uses novel continuum robots that use multiple super-elastic backbones for actuation and structural integrity. We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. A method for actuation compensation is presented in order to overcome uncertainties of modeling, friction, and backlash. This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. The tiered approach for actuation compensation uses compensation in both joint space and configuration space of the continuum robots. These hybrid actuation compensation schemes use intrinsic model information and external data through a recursive linear estimation algorithm and involve compensation using configuration space and joint space variables. Experimental results validate the ability of our integrated telemanipulation system through experiments of suturing and knot tying in confined spaces.",
keywords = "Continuum robots, Dexterity enhancement, Redundancy resolution, Suturing, Telemanipulation",
author = "Nabil Simaan and Kai Xu and Wei Wei and Ankur Kapoor and Peter Kazanzides and Taylor, {Russell H} and Paul Flint",
year = "2009",
month = "9",
doi = "10.1177/0278364908104278",
language = "English (US)",
volume = "28",
pages = "1134--1153",
journal = "International Journal of Robotics Research",
issn = "0278-3649",
publisher = "SAGE Publications Inc.",
number = "9",

}

TY - JOUR

T1 - Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat

AU - Simaan, Nabil

AU - Xu, Kai

AU - Wei, Wei

AU - Kapoor, Ankur

AU - Kazanzides, Peter

AU - Taylor, Russell H

AU - Flint, Paul

PY - 2009/9

Y1 - 2009/9

N2 - In this paper we present the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with 20 joint-space Degrees-of-Freedom (DoFs), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such as the throat. The telerobotic slave uses novel continuum robots that use multiple super-elastic backbones for actuation and structural integrity. We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. A method for actuation compensation is presented in order to overcome uncertainties of modeling, friction, and backlash. This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. The tiered approach for actuation compensation uses compensation in both joint space and configuration space of the continuum robots. These hybrid actuation compensation schemes use intrinsic model information and external data through a recursive linear estimation algorithm and involve compensation using configuration space and joint space variables. Experimental results validate the ability of our integrated telemanipulation system through experiments of suturing and knot tying in confined spaces.

AB - In this paper we present the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with 20 joint-space Degrees-of-Freedom (DoFs), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such as the throat. The telerobotic slave uses novel continuum robots that use multiple super-elastic backbones for actuation and structural integrity. We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. A method for actuation compensation is presented in order to overcome uncertainties of modeling, friction, and backlash. This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. The tiered approach for actuation compensation uses compensation in both joint space and configuration space of the continuum robots. These hybrid actuation compensation schemes use intrinsic model information and external data through a recursive linear estimation algorithm and involve compensation using configuration space and joint space variables. Experimental results validate the ability of our integrated telemanipulation system through experiments of suturing and knot tying in confined spaces.

KW - Continuum robots

KW - Dexterity enhancement

KW - Redundancy resolution

KW - Suturing

KW - Telemanipulation

UR - http://www.scopus.com/inward/record.url?scp=69249104578&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=69249104578&partnerID=8YFLogxK

U2 - 10.1177/0278364908104278

DO - 10.1177/0278364908104278

M3 - Article

VL - 28

SP - 1134

EP - 1153

JO - International Journal of Robotics Research

JF - International Journal of Robotics Research

SN - 0278-3649

IS - 9

ER -