Proceedings ArticleDOI
Maximizing dexterous workspace and optimal port placement of a multi-arm surgical robot
Zhi Li,Daniel Glozman,Dejan Milutinovic,Jacob Rosen +3 more
- pp 3394-3399
TLDR
The current research effort aims to configure the link architecture of each robotic arm, along with the position (port placement) and orientation of the Raven IV with respect to the patient, in order to optimize the common workspace reachable by all four robotic arms.Abstract:
Surgical procedures are traditionally performed by two or more surgeons along with staff nurses. One surgeon serves as the primary surgeon and the other serves as his/her assistant. Surgical robotics have redefined the dynamics in which the two surgeons interact with each other and with the surgical site. Raven IV is a new generation of the surgical robot system having four articulated robotic arms in a spherical configuration, each holding an articulated surgical tool. The system allows two surgeons to teleoperate the Raven IV collaboratively from two remote sites. The current research effort aims to configure the link architecture of each robotic arm, along with the position (port placement) and orientation of the Raven IV with respect to the patient, in order to optimize the common workspace reachable by all four robotic arms. The simulation results indicate that tilting the base of the robotic arms in the range of −20 to 20 deg while moving the ports closer together up to 50 mm apart leads to a preferred circular shape of the common workspace with an isotropy value of 0.5. A carefully configured system with multiple surgical robotic arms will enhance the interactive performance of the two surgeons.read more
Citations
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Journal ArticleDOI
Raven-II: An Open Platform for Surgical Robotics Research
Blake Hannaford,Jacob Rosen,Diana C. W. Friedman,H. Hawkeye King,Philip R. Roan,Lei Cheng,Daniel Glozman,Ji Ma,Sina Nia Kosari,Lee W. White +9 more
TL;DR: The Raven-II system has two 3-DOF spherical positioning mechanisms capable of attaching interchangeable four DOF instruments and is robust enough for repeated experiments and animal surgery experiments, but is not engineered to sufficient safety standards for human use.
Proceedings ArticleDOI
Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control
TL;DR: Comparison of the performance of these AI algorithms in a simulation setting indicated that the learning from demonstration algorithm can boost the learning policy by initializing the predicted dynamics with given demonstrations.
Proceedings ArticleDOI
Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control
TL;DR: In this article, reinforcement learning and learning from demonstration are used to predict the dynamics of soft tissue in an unstructured environment for surgical robotic systems, and the performance of reinforcement learning is evaluated in a simulation setting.
Journal ArticleDOI
Off-line programming of six-axis robots for optimum five-dimensional tasks
Jérémie Léger,Jorge Angeles +1 more
TL;DR: In this paper, a method based on sequential quadratic programming (SQP) is proposed to resolve the functional redundancy of five-degree-of-freedom (five-dof) tasks.
Journal ArticleDOI
Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery
Taoming Liu,M.C. Cavusoglu +1 more
TL;DR: Two new performance metrics on selecting port locations from the perspective of autonomously performing surgical suturing, without direct involvement of the human user are proposed.
References
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Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Journal ArticleDOI
The RAVEN: Design and Validation of a Telesurgery System
Mitchell J. H. Lum,Diana C. W. Friedman,Ganesh Sankaranarayanan,H. Hawkeye King,Kenneth Fodero,R. Leuschke,Blake Hannaford,Jacob Rosen,Mika Sinanan +8 more
TL;DR: The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools and techniques for delivering effective health care and illustrated the RAVEN surgical robot system’s ability to operate in extreme conditions using a variety of network settings.
Journal ArticleDOI
Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches
TL;DR: A complete kinematic analysis and optimization incorporating the requirements for MIS was performed to find the optimal link lengths of the manipulator, and the results show that for the serial spherical 2-link manipulator used to guide the surgical tool, the ideal link lengths are (60/spl deg/, 50/ spl deg/).
Proceedings ArticleDOI
Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot
TL;DR: By directly applying in-vivo experimental data from MIS in order to optimize the spherical manipulator a design that maximizes performance and minimizes size has been developed.
Journal ArticleDOI
Port placement planning in robot-assisted coronary artery bypass
Jeremy W. Cannon,Jeffrey A. Stoll,Shaun Selha,Pierre E. Dupont,Robert D. Howe,David F. Torchiana +5 more
TL;DR: This paper proposes an automated approach to port selection based on a preoperative image of the patient, thus avoiding the need to estimate internal anatomy, and has important clinical implications for robot-assisted CABG which warrant further investigation.