TY - GEN
T1 - Effects of tools inserted through snake-like surgical manipulators
AU - Murphy, Ryan J.
AU - Otake, Yoshito
AU - Wolfe, Kevin C.
AU - Taylor, Russell H.
AU - Armand, Mehran
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/11/2
Y1 - 2014/11/2
N2 - Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally-and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required.
AB - Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally-and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required.
KW - Kinematics
KW - Medical Robots and Systems
KW - Underactuated Robots
UR - http://www.scopus.com/inward/record.url?scp=84929485798&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929485798&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2014.6945203
DO - 10.1109/EMBC.2014.6945203
M3 - Conference contribution
C2 - 25571571
AN - SCOPUS:84929485798
T3 - 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
SP - 6854
EP - 6858
BT - 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
Y2 - 26 August 2014 through 30 August 2014
ER -