Development of Control and HMI for Safe Robot Assisted Minimally Invasive Surgery

최소침습수술용 로봇의 안전성을 위한 제어 및 HMI 개발

  • Received : 2011.02.25
  • Accepted : 2011.06.13
  • Published : 2011.09.01

Abstract

Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.

Keywords

References

  1. Howe, R. D. and Matsuoka, Y., "Robotics for Surgery," Annual Review of Biomedical Engineering, Vol. 1, pp. 211-240, 1999. https://doi.org/10.1146/annurev.bioeng.1.1.211
  2. Swanstrom, L. L., "Natural Orifice Transluminal Endoscopic Surgery," Endoscopy, Vol. 41, No. 1, pp. 82-85, 2009. https://doi.org/10.1055/s-0028-1103448
  3. de la Fuente, S. G., DeMaria, E. J., Reynolds, J. D., Portenier, D. D. and Pryor, A. D., "New Developments in Surgery : Natural Orifice Transluminal Endoscopic Surgery (NOTES)," American Medical Association, Vol. 142, No. 3, pp. 295-297, 2010.
  4. Hata, N., Hashimoto, R., Tokuda, J. and Morikawa, S., "Needle Guiding Robot for MR-guided Microwave Thermotherapy of Liver Tumor using Motorized Remote-Center-of-Motion Constraint," IEEE International Conference on Robotics and Automation, pp. 1652-1656, 2005.
  5. Boctor, E. M., Webster, R. J. III, Mathieu, H., Okamura, A. M. and Fichtinger, G., "Virtual Remote Center of Motion Control for Needle Placement Robots," 6th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Vol. 9, No. 5, pp. 175-183, 2004.
  6. Locke, R. C. O. and Patel, R. V., "Optimal Remote Center-of-Motion Location for Robotics-Assisted Minimally-Invasive Surgery," IEEE International Conference on Robotics and Automation, pp. 1900- 1905, 2007.
  7. Coste-Manière, E., Adhami, L., Severac-Bastide, R., Lobontiu, A., Salisbury, J. K. Jr., Boissonnat, J.-D., Swarup, N., Guthart, G., Mousseaux, E. and Carpentier, A., "Optimized port placement for the totally endoscopic coronary artery bypass grafting using the Da Vinci robotic system, in Russ, D. and Singh, S. (Eds.), Lecture Notes in Control and Information Sciences, Experimental Robotics VII," Springer-Verlag, Vol. 271, pp. 199-208, 2001.
  8. Seo, K. W., Lee, D. W. and Min, B. R., "A 3-D Information Acquisition Algorithm for Close Range Endoscopy," World Congress on Medical Physics and Biomedical Engineering, Vol. 14, No. 4, pp. 2612-2615, 2006.