Research SAIT SPA2011

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= A Robotic Surgical System for Single Port Access Laparoscopy =
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= A SJTU Unfoldable Robotic System for Single Port Laparoscopy =
September 2011 to present
September 2011 to present
[[image:note_bulb.png|text-bottom|12px]] This work was supported by [http://www.sait.samsung.co.kr/ the Samsung Advanced Institute of Technology (SAIT)] under [http://www.sait.samsung.co.kr/saithome/01_about/gro_overview.jsp the Global Research Outreach (GRO) program].
[[image:note_bulb.png|text-bottom|12px]] This work was supported by [http://www.sait.samsung.co.kr/ the Samsung Advanced Institute of Technology (SAIT)] under [http://www.sait.samsung.co.kr/saithome/01_about/gro_overview.jsp the Global Research Outreach (GRO) program].
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[[File: Research_SAIT_SPA2011_1.jpg‎|thumb|400px|A teleoperative robotic system for Single Port Access Laparoscopy (SPAL)]]
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[[File: Research_SAIT_SPA2011_1.jpg‎|thumb|300px|Schematic of a surgical robot for Single Port Laparoscopy (SPL)]]
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To meet the challenges of SPA surgeries, an Insertable Robotic Effector Platform (IREP) shown in the figure is designed by merging enabling technologies of endoscopic imaging (Hu, Allen et al. 2007; Hogle, Hu et al. 2008; Hu, Allen et al. 2008; Hu, Allen et al. 2008) and distal dexterity enhancement (Kapoor, Simaan et al. 2005; Simaan 2005; Xu and Simaan 2006; Xu and Simaan 2008; Simaan, Xu et al. 2009)
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Single Port Laparoscopy (SPL) might bring better surgical outcomes than traditional multi-port laparoscopy, in terms of postoperative pain, complications, hospitalization time, cosmesis, etc. Due to the increased manipulation difficulty in SPL, several surgical robotic systems were developed, including [[Research_IREP2007|the IREP robot]] which was designed by Dr. Kai Xu when he was with the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University.
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The IREP robot consists of two five-DoF snake-like continuum robots, two two-DoF parallelogram mechanisms, and one three-DoF stereo vision module. It is designed to meet the challenge of enabling abdominal SPA procedures, such as cholecystectomy, appendectomy, liver resection, etc. When it is in its folded configuration, it can be deployed into the abdomen through an Ø15mm skin incision while using its forward-looking stereo vision module to guide surgeons through the insertion phase. The IREP can then unfold itself into a working configuration to perform SPA procedures after being deployed.
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This project focuses on the design and implementation of a teleoperative robot, the SJTU Unfoldable Robotic System (SURS), for SPL, pushing the design boundary of SPL robots.  
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* Each snake-like continuum robot includes four components: i) a gripper, ii) a one-DoF rotational wrist, iii) a four-DoF continuum snake arm and iv) a flexible stem. It acts as a surgical telemanipulation slave for dual arm interventions and delivery of sensors (e.g. ultrasound probe) or energy sources (e.g. cautery). During SPA procedures, each of the arms of the IREP robot can be independently pulled out and replaced with another arm equipped with different surgical end effectors.
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As shown in the picture, the SURS could be carried and positioned by a standard 6R industrial robot. The industrial robot acts as a RCM (Remote Center of Motion) mechanism and pivots the stem of the SURS around the incision point in the abdomen wall.
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* Each parallelogram mechanism has two degrees of freedom for a translational placement of the snake-like continuum robot. The flexible stem will be independently fed in and out to comply with the parallelogram’s motion.
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* The stereo vision module has a pair of CCD cameras for depth perception as well as surgical tool tracking. It has three degrees of freedom for pan, tilt, and zoom. A light source using optic fiber bundles is also integrated.
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* All these controlled joints will be actuated by NiTi tubes or stainless steel rods in push-pull mode. The actuation unit will remain outside patient’s body.
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[[File: Research_SAIT_SPA2011_2.jpg‎|thumbnail|left|500px|The SURS robot: (a) the folded configuration with an outer diameter of 12mm, and (b) the unfolded working configuration]]
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[[File: Research_SAIT_SPA2011_2.jpg‎|thumb|800px|System configuration and some preliminary fabrication results]]
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Once positioned by the 6R robot, the SURS can be deployed into abdomen through a ∅12mm skin incision in the folded configuration and can then be unfolded to form a dual-arm working configuration. It consists of two 6-DoF manipulation arms and one 3-DoF vision unit.
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The SURS’s control infrastructure adopts a conventional setup for teleoperation. Two Phantom Omni devices were connected to a Host PC via IEEE 1394 firewires to provide control inputs. The Host PC runs a Windows-based program that sends the tip positions and orientations from the two Omni devices to two Target PCs via a router with LAN connections using a UDP every 10 milliseconds. Each Target PC controls one manipulation arm under a real-time OS generated by MATLAB’s xPC module. The duration of the servo loop is 1 millisecond.
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Compared to [[Research_IREP2007|the IREP robot]], main improvements featured by the SURS include i) a reduced diameter of the access port, ii) an enhanced distal dexterity, and iii) an improved payload capability introduced by the modified continuum structure of the manipulation arms.
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SURS's functionality can be seen from the video clips below, including the deployment, pick-and-place, tissue peeling, knot tying and tissue resection.
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Latest revision as of 04:07, 6 October 2014


A SJTU Unfoldable Robotic System for Single Port Laparoscopy

September 2011 to present

Note bulb.png This work was supported by the Samsung Advanced Institute of Technology (SAIT) under the Global Research Outreach (GRO) program.

Schematic of a surgical robot for Single Port Laparoscopy (SPL)

Single Port Laparoscopy (SPL) might bring better surgical outcomes than traditional multi-port laparoscopy, in terms of postoperative pain, complications, hospitalization time, cosmesis, etc. Due to the increased manipulation difficulty in SPL, several surgical robotic systems were developed, including the IREP robot which was designed by Dr. Kai Xu when he was with the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University.

This project focuses on the design and implementation of a teleoperative robot, the SJTU Unfoldable Robotic System (SURS), for SPL, pushing the design boundary of SPL robots.

As shown in the picture, the SURS could be carried and positioned by a standard 6R industrial robot. The industrial robot acts as a RCM (Remote Center of Motion) mechanism and pivots the stem of the SURS around the incision point in the abdomen wall.

The SURS robot: (a) the folded configuration with an outer diameter of 12mm, and (b) the unfolded working configuration

Once positioned by the 6R robot, the SURS can be deployed into abdomen through a ∅12mm skin incision in the folded configuration and can then be unfolded to form a dual-arm working configuration. It consists of two 6-DoF manipulation arms and one 3-DoF vision unit.

The SURS’s control infrastructure adopts a conventional setup for teleoperation. Two Phantom Omni devices were connected to a Host PC via IEEE 1394 firewires to provide control inputs. The Host PC runs a Windows-based program that sends the tip positions and orientations from the two Omni devices to two Target PCs via a router with LAN connections using a UDP every 10 milliseconds. Each Target PC controls one manipulation arm under a real-time OS generated by MATLAB’s xPC module. The duration of the servo loop is 1 millisecond.

Compared to the IREP robot, main improvements featured by the SURS include i) a reduced diameter of the access port, ii) an enhanced distal dexterity, and iii) an improved payload capability introduced by the modified continuum structure of the manipulation arms.

SURS's functionality can be seen from the video clips below, including the deployment, pick-and-place, tissue peeling, knot tying and tissue resection.

Research SAIT SPA2011 3.gif Research SAIT SPA2011 4.gif Research SAIT SPA2011 5.gif
Research SAIT SPA2011 6.gif Research SAIT SPA2011 7.gif
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