J. DAnwl B8NrL.nd, Ph.D., isIlssU14nt professor Andhed, Physic Section, Dep.:ntm ent ofR.4dUaion Oncology, Wa e Forest Unit/miry School of Medicine in Winston-Salem, N.G. He ischairman ofthe AAPM Electronic Media Coordinating Committee, chairman ofthe new AAPM Subcommitteeon MoieCHlaTImaging in Clinical Radiation Oncology, and aformer member ofthe AAPM RildiAtion Therllpy Committee. The AAPM is headqNllTtered in College PIlTk, Md. WHO WE ARE The America n Assoc iation of Physicists in Medicine (AAPM) h J S ap proximately 4.62S mcmbers who practice or arc associn ed with medical physics.

American Association of Physicists in Medicine

In this paper, a bio-inspired parallel manipulator with one translation along z-axis and two rotations along x- and y- axes is developed as the hybrid head mechanism of a groundhog robotic system. Several important issues including forward kinematic modeling, performance mapping, and multi-objective improvement are investigated with specific methods or technologies. Accordingly, the forward kinematics is addressed based on the integration of radial basis function network and inverse kinematics. A novel performance index called dexterous stiffness is defined, derived and mapped. The multi-objective optimization with particle swarm algorithm is conducted to search for the optimal dexterous stiffness and reachable workspace.

Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator

Dexterous continuum manipulators (DCMs) can largely increase the reachable region and steerability for minimally and less invasive surgery. Many such procedures require the DCM to be capable of producing large deflections. The real-time control of the DCM shape requires sensors that accurately detect and report large deflections. We propose a novel, large deflection, shape sensor to track the shape of a 35 mm DCM designed for a less invasive treatment of osteolysis. Two shape sensors, each with three fiber Bragg grating sensing nodes is embedded within the DCM, and the sensors’ distal ends fixed to the DCM. The DCM centerline is computed using the centerlines of each sensor curve. An experimental platform was built and different groups of experiments were carried out, including free bending and three cases of bending with obstacles. For each experiment, the DCM drive cable was pulled with a precise linear slide stage, the DCM centerline was calculated, and a 2D camera image was captured for verification. The reconstructed shape created with the shape sensors is compared with the ground truth generated by executing a 2D–3D registration between the camera image and 3D DCM model. Results show that the distal tip tracking accuracy is 0.40 ± 0.30 mm for the free bending and 0.61 ± 0.15 mm, 0.93 ± 0.05 mm and 0.23 ± 0.10 mm for three cases of bending with obstacles. The data suggest FBG arrays can accurately characterize the shape of large-deflection DCMs.

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Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors

Augmented reality (AR) and robotic-assisted surgery (RAS) are both rapidly evolving technologies in recent years. RAS systems, such as the da Vinci Surgical System, aim to improve surgical precision and dexterity, as well as access to minimally-invasive procedures, while AR provides an advanced interface to enhance user perception. Combining the features of both, AR-integrated RAS has become an appealing concept with increased interest among the academic community. In this paper, we review the existing literature about AR-integrated RAS. We discuss the hardware components, application paradigms and clinical relevance of the literature. The concept of AR-integrated RAS has been shown to be feasible for various procedures. Encouraging preliminary results include reduced sight diversion and improved situation awareness. Special techniques, e.g., activation-on-demand, are taken into consideration to address visual clutter of the AR interface and ensure that the system is fail-safe. Although AR-integrated RAS is not yet mature, we believe that if the current trend of development continues, it will soon demonstrate its clinical value.

A Review of Augmented Reality in Robotic-Assisted Surgery

CUBE, a Cable-driven Device for Limb Rehabilitation

During the last years, there has been an increase in research in the field of medical robots. This trend motivated the development of a new robotics field called ''robotic-assisted minimally invasive surgery''. The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M. The robot consists of two subsystems: a surgical robotic arm, PARASURG 5M with five motors, and an active robotized surgical instrument PARASIM with four motors. The methodology for the robot kinematics is presented and the algorithm for robot workspace generation is described. PARASURG-9M inverse dynamic simulation is performed using MSC Adams and finally some numerical and simulation results of the developed experimental model with its system control are also described.

An active hybrid parallel robot for minimally invasive surgery

This paper outlines the main design issues for an upper limb rehabilitation device. In particular, human motions have been measured and analyzed in order to identify a safe workspace required for a rehabilitation device. A preliminary design solution is proposed based on a cable-driven parallel architecture, which can provide the required operation workspace and significantly improve the safety of the rehabilitation procedure as compared with exoskeletons or traditional robotic devices.

Design Issues for an Inherently Safe Robotic Rehabilitation Device

Robotic-assisted surgery is a continuously developing field, as robots have demonstrated clear benefits in the operating room. This paper presents the inverse dynamic model (in the case of using the laparoscope as a surgical instrument) and some characteristics of a 5-DOF hybrid parallel robot designed for minimally invasive surgery. The new inverse dynamic model is obtained using the virtual work method on the basis of dynamically equivalent lumped masses. The simulation and numerical results have been obtained for the experimental model of the developed PARASURG-5M robot, showing that the analytical inverse dynamic model could be used in the control of the robot. Finally, a comparison between the simulation data obtained in Matlab (IDM) with the simulation data through a Multi-body Simulation software (MBS), namely Adams (MBS) has been performed.

Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses

Robotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following the analysis of singularities, the best variant is chosen. The robot workspace is computed and finally the experimental model and some simulation results are presented.

Kinematic modelling of a 5-dof hybrid parallel robot for laparoscopic surgery*

The design and analysis of a new module for the orientation of the instrument tip in minimally invasive surgery are presented in the paper. The aspects related to its design and modularity point out the advantages of the proposed solution: increased ergonomics and dexterity, wider workspace, reduced number of incisions. The solution is analysed with respect to the main drawbacks which are currently reported regarding the use of flexible instruments in minimally invasive procedures. A comparative study is performed analysing the workspace of classical instruments and the ones that use the orientation module in order to assess the possible benefits of the proposed solution. The same approach evaluates the behaviour and possible advantages of robotic surgical instruments equipped with such an orientation module.

Bogdan Gherman

Papers

An active hybrid parallel robot for minimally invasive surgery

Design Issues for an Inherently Safe Robotic Rehabilitation Device

Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses

Kinematic modelling of a 5-dof hybrid parallel robot for laparoscopic surgery*

Orientation module for surgical instruments—a systematical approach