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Enrique Bauzano Nuñez [email protected]
EUROBOT Conference 2009
CONTROL METHODOLOGIES FOR ENDOSCOPE NAVIGATION IN ROBOTIZED LAPAROSCOPIC
SURGERY
Enrique Bauzano Núñez, Dr. Víctor Muñoz MartínezDra. Isabel García Morales, Belén Estebanez Campos
Dpto. Ingeniería de Sistemas y Automáticahttp://www.isa.uma.es
Universidad de Málaga (Spain)
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Enrique Bauzano Nuñez [email protected]
Control Methods for Endoscope Navigation in Robotized Lap. Surgery
OUTLINE
I. Introduction
II. Laparoscopic Navigation Problem
III.Force Interaction Model on Active Wrists
IV.Control Strategy
V. Implantation and Experiments
VI.Conclusions and Future Works
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I. INTRODUCTION
Control Methods for Endoscope Navigation in Robotized Lap. Surgery
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I. Introduction
Laparoscopic Surgery: “Accessing to the abdominal cavity with especial long instruments through small incisions.”
LAPAROSCOPIC SURGERY
Advantages Lessen recovery time
Limit post-operative complications
Lower scars
Constraints Movement limitations
Loss of touch and 3D perception
Hand-eye coordination problems
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I. Introduction
Proposal: “Solve the motion problem for a laparoscopic surgery robot assistant.”
GLOBE-SHAPED MOVEMENTS
{I} Fulcrum point Orientation angle Altitude angle External distance
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ROBOTIC WRISTS COMPARATIVE
• Null forces on abdomen• Precision depends on fulcrum accuracy
• Null forces on abdomen• Special instruments needed• Previous calibration• Voluminous mechanisms
• No additional mechanisms on wrist• No special instruments needed• Low volume• May apply forces on abdomen
I. Introduction
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II. LAPAROSCOPIC NAVIGATIONPROBLEM
Control Methods for Endoscope Navigation in Robotized Lap. Surgery
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PASSIVE WRISTS MECHANISMII. Laparoscopic Navigation Problem
External supply is not necessary.
Controller is integrated on the arm itself.
Adaptable to operating room requirements.
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NAVIGATION PROBLEM ON PASSIVE WRISTS
XI
ZI
C
C
e
ANavigation Problem: Move the endoscope from A to B an altitude angle .
I0
I0 Initial fulcrum (desired)
C Estimated fulcrum Orientation error
e External distance error
e Altitude error
II. Laparoscopic Navigation Problem
B
ʹ
Bʹe
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ACTIVE WRISTS MECHANISMII. Laparoscopic Navigation Problem
Force Sensor
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NAVIGATION PROBLEM ON ACTIVE WRISTS
I
XI
ZI
CC
e
AB
es
Navigation Problem: Move the endoscope from A to B an altitude angle .
I0
I0 Initial fulcrum (desired)
I Actual fulcrum
C Estimated fulcrum
e External distance error
es Separation error
II. Laparoscopic Navigation Problem
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III. FORCE INTERACTION MODEL ON ACTIVE WRISTS
Control Methods for Endoscope Navigation in Robotized Lap. Surgery
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ENDOSCOPE-ABDOMEN INTERACTION MODEL
XI
ZI
Fr
III. Force Interaction Model on Active Wrists
rs FFgF m
A
Cmg
I0
Fs
I
B
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FORCES MODEL
Stiffness Coefficient
0 0.5 1 1.5-3
-2
-1
0
1
2
3
4
Time (seconds)
Ela
stic
ity
(N/m
m)
Real Estimated
-20
0
20
00.5
11.5
2
0
2
4
6
8
10
Altitude (degrees)Time (seconds)
Fric
tion
F r (New
ton)
ss eF NFr
III. Force Interaction Model on Active Wrists
Friction Coefficient
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IV. CONTROL STRATEGY
Control Methods for Endoscope Navigation in Robotized Lap. Surgery
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PASSIVE WRISTS: CONTROL SCHEMEIV. Control Strategy
Robot & Endoscope
Trajectory Generator Planner
Control PI
Geometrical Estimator
Actual Endoscope Location
Required Spherical Trajectory
Endoscope Desired Location
+-
Estimated External Distance
Real External Distance
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ACTIVE WRISTS: NAVIGATION STRATEGY
1. Rotate around estimated fulcrumFulcrum displacement over the abdomen
2. Passive Wrist BehaviorEndoscope rotation over the wrist to reduce fulcrum displacement
3. Altitude angle correctionRecover desired altitude angle
I
L1L3
XI
ZI
C
IV. Control Strategy
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ACTIVE WRISTS: PASSIVE WRIST BEHAVIOR (I)IV. Control Strategy
Trajectory Generator Planner
Robot & Endoscope
Abdomen Interaction
Force Sensor
Separation estimator
External Distance estimator
KFriction + Weight
Filtering
Cor
rect
ion
Ang
le
Planned Movement
Followed Altitude
Abdomen Force Fs Force F
Planned Altitude p
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ACTIVE WRISTS: PASSIVE WRIST BEHAVIOR (II)IV. Control Strategy
Planner– Calculates the required trajectory with a first order system behavior– Acts faster than correction angle loop
Robot: Performs the controlled movement
Endoscope-Abdomen Interaction: Generates abdominal forces
Force Sensor: Measurement of forces
Separation Estimator– Depends on the stiffness estimation– Its value remains the same if Fs < Fthreshold
External Distance Estimator– Result of Force-Torque balance– Its value remains the same if Fs < Fthreshold
rT
sT
s LekLekL )1()()1(
e
ssFe
Ce
sρ
s
FuM
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ACTIVE WRISTS: SPHERICAL CONTROL LOOPIV. Control Strategy
Passive Wrist Behavior Robot
Followed Altitude
Control PI
+-
Desired Altitude d
Planned Altitude p
Controlled Altitude c
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V. IMPLANTATION AND EXPERIMENTS
Control Methods for Endoscope Navigation in Robotized Lap. Surgery
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PASSIVE WRIST IMPLANTATION (I)V. Implantation and Experiments
Surgeon Voice Recognizer Control Software
Controller
ERM Robot
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ACTIVE WRIST IMPLANTATION (II)V. Implantation and Experiments
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ACTIVE WRIST IMPLANTATION (I)V. Implantation and Experiments
Movement Command
Virtual-PA10 simulator (Matlab)
Matlab-C++ DLL Library
linker
C++ Library PA-10 ControllerPA-10 Robot
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ACTIVE WRIST IMPLANTATION (II)V. Implantation and Experiments
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EXPERIMENTAL RESULTSV. Implantation and Experiments
0 1 2 3 4 5 6-49
-48
-47
-46
-45
-44
-43
-42
-41
-40
Time (seconds)
Alti
tude
(d
egre
es)
Desired Followed
0 1 2 3 4 5 6 7 8 9-49
-48
-47
-46
-45
-44
-43
-42
-41
Altit
ude
angl
e (d
egre
es)
Time (seconds)
Actual trajectoryDesired trajectoryRequired trajectory
Passive Wrists Active Wrists
0 1 2 3 4 5 6 7 8 993.5
93.6
93.7
93.8
93.9
94
94.1
94.2
94.3
94.4
94.5
Orie
ntat
ion
angl
e (d
egre
es)
Time (seconds)
Actual trajectoryDesired trajectoryRequired trajectory
0 2 4 6 8 10266
268
270
272
274
276
278
Time (seconds)
Exte
rnal
Dist
ance
e (
mm
)
EstimatedReal
0 2 4 6 8 100
0.5
1
1.5
2
2.5
3
3.5
Time (seconds)
Sepa
ratio
n Er
ror e
S (mm
)
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VI. CONCLUSIONS AND FUTURE WORKS
Control Methods for Endoscope Navigation in Robotized Lap. Surgery
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ACTIVE VS. PASSIVE WRISTS
Almost no fluctuations to reach steady state on altitude angle
No fluctuations on orientation angle
May be used to apply efforts with surgery tools
LAST IMPROVEMENTS ON ACTIVE WRISTS
System does not depend on friction force
Stiffness can be now measured on-line, not model needed
New control methodology for stability analysis
V. Conclusions and Future Works
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FUTURE WORKS
Active tasks during an intervention
Development of semi-autonomous robotic surgeon assistants
Like remote-centered wrists, useful on tele-surgery fields
V. Conclusions and Future Works
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Enrique Bauzano Nuñez [email protected]
Control Methods for Endoscope Navigation in Robotized Lap. Surgery
THANKS FOR YOUR ATTENTION!!!