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A minimally invasive surgery robotic assistant for HALS-SILS techniques.

E Bauzano¹, I Garcia-Morales, P del Saz-Orozco

¹Department of System Engineering and Automation, University of Malaga, Edificio de Institutos Universitarios, Labs. 9-10, Severo Ochoa 4, 29590 Malaga, Spain.

Computer Methods and Programs in Biomedicine

|April 10, 2013

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This study introduces a novel robotic surgical motion controller for combined hand-assisted and single-incision laparoscopic surgery. The system enhances surgeon collaboration through autonomous movements and minimized abdominal wall forces.

Area of Science:

Robotics
Surgical Technology
Control Systems

Background:

Laparoscopic surgery presents challenges in instrument manipulation and surgeon assistance.
Combining hand-assisted laparoscopic surgery (HALS) and single-incision laparoscopic surgery (SILS) requires advanced control solutions.
Existing systems may not adequately address fulcrum point uncertainty and abdominal wall interaction.

Purpose of the Study:

To design and implement an advanced robotic surgical motion controller.
To enable natural collaboration between a robot assistant and a human surgeon.
To minimize forces exerted on the abdominal wall during autonomous surgical maneuvers.

Main Methods:

Implementation of a hierarchical control architecture.

Keywords:

Force feedback control Laparoscopic surgery Real-time automatic movements Surgical robot assistant

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Development of an upper auto-guide velocity planner using a behavior-based approach for collision-free trajectory generation.

Integration of a low-level force feedback controller considering holonomic constraints and fulcrum point uncertainty.

Main Results:

The robotic controller successfully generated collision-free trajectories for surgical instruments.
The force feedback controller effectively minimized forces on the abdominal wall despite fulcrum location uncertainty.
The integrated system, CISOBOT, demonstrated effective performance in in vitro trials.

Conclusions:

The developed robotic surgical motion controller offers a viable solution for advanced laparoscopic procedures.
The hierarchical control architecture facilitates natural surgeon-robot collaboration.
The system's ability to manage fulcrum point uncertainty enhances safety and precision in minimally invasive surgery.