DOI QR코드

DOI QR Code

Improvement in the Control Performance of Instruments used for Minimally Invasive Surgery

최소침습술을 위한 의료용 인스트루먼트의 동작 성능 향상

  • Received : 2013.04.02
  • Accepted : 2013.08.27
  • Published : 2013.12.01

Abstract

This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.

Keywords

MIS (Minimally Invasive Surgery);surgical instrument;tendon driven;grasping force

References

  1. J. Rosen, B. Hannaford, and R. M. Satava (Editors), Surgical Robotics - Systems, Applications, and Visions, Springer, New York, 2011.
  2. S. H. Kim, K. G. Kim, and Y. H. Jo, "Laparoscope manipulator control for minimally invasive surgery," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 7, pp. 685-696, 2011. https://doi.org/10.5302/J.ICROS.2011.17.7.685
  3. J. Lee, S. Kim, Y. S. Kim, and W. K. Chung, "Automated Surgical Planning System for Spinal Fusion Surgery with Three-Dimensional Pedicle Model," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 8, pp. 807-813, 2011. https://doi.org/10.5302/J.ICROS.2011.17.8.807
  4. M. J. H. Lum, J. Rosen, M. N. Sinanan, and B. Hannaford, "Optimization of spherical mechanism for a minimally invasive surgical robot: Theoretical and experimental approaches," IEEE Transactions on Biomedical Engineering, vol. 53, no. 7, pp. 1440-1445, Jul. 2006. https://doi.org/10.1109/TBME.2006.875716
  5. G. T. Sung and I. S. Gill, "Robotic laparoscopic surgery: a comparison of the Da Vinci and Zeus systems," Urology, vol. 58, no. 6, pp. 893-898, 2001. https://doi.org/10.1016/S0090-4295(01)01423-6
  6. P. Puangmali, K. Althoefer, L. D. Seneviratne, D. Murphy, and P. Dasgupta, "State-of-the-art in force and tactile sensing for minimally invasive surgery," IEEE Sensors Journal, vol. 8, no. 4, pp. 371-381, Apr. 2008. https://doi.org/10.1109/JSEN.2008.917481
  7. R. Ozawa, K. Hashirii, and H. Kobayashi, "Design and control of underactuated tendondriven mechanisms," IEEE International Conference on Robotics and Automation, pp. 1522-1527, May. 2009.
  8. B. Siciliano and O. Khatib, Springer Handbook of Robotics, Springer, New York, 2008.
  9. S. Ma, S. Hirose, and H. Yoshinada, "Design and experiments for a coupled tendon-driven manipulator," IEEE Control Systems, vol. 13, pp. 30-36, Feb. 1993.
  10. M. Feng, Y. Fu, B. Pan, and C. Liu, "A medical robot system for celiac minimally invasive surgery," IEEE International Conference on Information and Automation, pp. 33-38, Jun. 2011.