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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
Summary
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.
- 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.
