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Published on: November 14, 2015
Active constrained motion control for a robot-assisted endoscope manipulator in pediatric minimal access surgery
1Department of Instrument Science and Engineering, Shanghai Engineering Research Center for Intelligent Diagnosis and Treatment Instrument, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, People's Republic of China. lihongbing@sjtu.edu.cn.
This study presents a novel endoscope manipulator for robot-assisted surgery, enhancing safety and control in pediatric procedures. The system offers intuitive surgeon control and collision avoidance, improving surgical outcomes.
Area of Science:
- Robotics in Medicine
- Surgical Technology
- Pediatric Surgery
Background:
- Robot-assisted laparoscopic surgery demands high safety, simplicity, and intuitiveness.
- Unexpected tool-tissue interactions occur due to endoscope instability and communication errors, especially in pediatric minimal access surgery.
- Restricted working spaces in pediatric surgery exacerbate these challenges.
Purpose of the Study:
- To introduce a compact, lightweight endoscope manipulator with a mechanical remote-center-motion function.
- To enable intuitive surgeon control of the endoscope via a custom human-machine interface.
- To develop an active constrained motion control algorithm for collision avoidance in confined pediatric abdominal cavities.
Main Methods:
- Development of a compact, lightweight endoscope manipulator featuring remote-center-motion.
- Design of a custom human-machine interface for surgeon-controlled endoscope movement.
- Implementation of an active constrained motion control algorithm to define forbidden regions and prevent collisions.
Main Results:
- The proposed endoscope manipulator demonstrated effective and intuitive control.
- The active constrained motion control successfully generated collision-avoidance constraints.
- Simulations and experiments validated the system's performance in restricted pediatric surgical environments.
Conclusions:
- The developed compact endoscope manipulator enhances safety and intuitiveness in robot-assisted surgery.
- The active constrained motion control algorithm effectively prevents collisions in confined spaces.
- This technology holds significant potential for improving pediatric minimal access surgery outcomes.
