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|Schematic of a surgical robot 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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Single Port Access Laparoscopy (SPAL) 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 SPAL, 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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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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This project focuses on the design and implementation of a teleoperative robotic slave for SPAL. Final design of the proposed robotic slave is expected to consists of i) a Ø12mm robotic arm with a foldable distal module, ii) a Remote-Center-of-Motion (RCM) mechanism, and iii) an actuation unit for this robotic slave. The distal module shall possess both a folded configuration and an unfolded configuration at the distal end of the robotic arm. In the folded configuration, the distal module of the robotic slave can be deployed into abdominal cavity through a Ø12mm skin incision; then the module can unfold itself into a working configuration to perform SPA procedures.
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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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The distal module of this robotic slave will incorporate two exchangeable manipulation tools to perform typical surgical tasks, such as suturing and knot-tying. Motions of the manipulation tools will be controlled using a master console. The distal module will also integrate a stereo vision unit with built-in illumination so that surgeon operator can observe the surgical site using a 3D display device. The 3D display device and the master console shall be commercially available and will be reprogrammed or reconfigured to interact with the designed surgical robotic slave.
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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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During surgical operations, the actuation unit will be locked to a standard surgical bed as the base; the RCM mechanism will follow a real-time inverse kinematics resolution to position and orient the robotic arm through the single port (trocar).  
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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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Functionality of the robotic slave shall be verified by conducting simulated abdominal procedures (such as cholecystectomy and appendectomy) on surgical phantoms or animal models.
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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 this new SPAL robot include i) a reduced diameter of the access port, ii) an enhanced distal dexterity introduced by the RCM mechanism combined with the foldable module, and iii) an improved payload capability introduced by the modified continuum structure of the manipulation arms.
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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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Revision as of 03:58, 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.

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.


System configuration and some preliminary fabrication results


The Φ6mm continuum arm reaches various points The Φ6mm continuum arm under the tele-operation mode
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