This Article Full Text (PDF) Multimedia All Versions of this Article: 0278364908104278v1 28/9/1134    most recent References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Scopus Google Scholar Articles by Simaan, N. Articles by Flint, P. Social Bookmarking                         What's this?

Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat

Advanced Robotics and Mechanism Applications (A.R.M.A.) Laboratory, Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA, ns2236{at}columbia.edu

Kai Xu

Advanced Robotics and Mechanism Applications (A.R.M.A.) Laboratory, Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA, kx2102{at}columbia.edu

Wei Wei

Advanced Robotics and Mechanism Applications (A.R.M.A.) Laboratory, Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA, ww2161{at}columbia.edu

Ankur Kapoor

Department of Computer Science, ERC-CISST, Johns Hopkins University, Baltimore, MD 21218, USA, ankurkapoor{at}jhu.edu

Peter Kazanzides

Department of Computer Science, ERC-CISST, Johns Hopkins University, Baltimore, MD 21218, USA, pkaz{at}jhu.edu

Russell Taylor

Department of Computer Science, ERC-CISST, Johns Hopkins University, Baltimore, MD 21218, USA, rht{at}jhu.edu

Paul Flint

Department of Otolaryngology, Head and Neck Surgery, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA, pflint{at}jhmi.edu

In this paper we present the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with 20 joint-space Degrees-of-Freedom (DoFs), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such as the throat. The telerobotic slave uses novel continuum robots that use multiple super-elastic backbones for actuation and structural integrity. We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. A method for actuation compensation is presented in order to overcome uncertainties of modeling, friction, and backlash. This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. The tiered approach for actuation compensation uses compensation in both joint space and configuration space of the continuum robots. These hybrid actuation compensation schemes use intrinsic model information and external data through a recursive linear estimation algorithm and involve compensation using configuration space and joint space variables. Experimental results validate the ability of our integrated telemanipulation system through experiments of suturing and knot tying in confined spaces.

Key Words: dexterity enhancement • continuum robots • telemanipulation • redundancy resolution • suturing.

This version was published on September 1, 2009

The International Journal of Robotics Research, Vol. 28, No. 9, 1134-1153 (2009)
DOI: 10.1177/0278364908104278


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?