1
|
Wang X, Liu W, Luo Q, Yao L, Wei F. Thermally Drawn-Based Microtubule Soft Continuum Robot for Cardiovascular Intervention. ACS APPLIED MATERIALS & INTERFACES 2024; 16:29783-29792. [PMID: 38811019 DOI: 10.1021/acsami.4c03885] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/31/2024]
Abstract
Cardiovascular disease is becoming the leading cause of human mortality. In order to address this, flexible continuum robots have emerged as a promising solution for miniaturizing and automating vascular interventional equipment for diagnosing and treating cardiovascular diseases. However, existing continuum robots used for vascular intervention face challenges such as large cross-sectional sizes, inadequate driving force, and lack of navigation control, preventing them from accessing cerebral blood vessels or capillaries for medical procedures. Additionally, the complex manufacturing process and high cost of soft continuum robots hinder their widespread clinical application. In this study, we propose a thermally drawn-based microtubule soft continuum robot that overcomes these limitations. The proposed robot has cross-sectional dimensions several orders of magnitude smaller than the smallest commercially available conduits, and it can be manufactured without any length restrictions. By utilizing a driving strategy based on liquid kinetic energy advancement and external magnetic field for steering, the robot can easily navigate within blood vessels and accurately reach the site of the lesion. This innovation holds the potential to achieve controlled navigation of the robot throughout the entire blood vessel, enabling in situ diagnosis and treatment of cardiovascular diseases.
Collapse
Affiliation(s)
- Xufeng Wang
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Wei Liu
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Qinzhou Luo
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Ligang Yao
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Fanan Wei
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| |
Collapse
|
2
|
Yan Y, Sun T, Ren T, Ding L. Enhanced grip force estimation in robotic surgery: A sparrow search algorithm-optimized backpropagation neural network approach. MATHEMATICAL BIOSCIENCES AND ENGINEERING : MBE 2024; 21:3519-3539. [PMID: 38549294 DOI: 10.3934/mbe.2024155] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 04/02/2024]
Abstract
The absence of an effective gripping force feedback mechanism in minimally invasive surgical robot systems impedes physicians' ability to accurately perceive the force between surgical instruments and human tissues during surgery, thereby increasing surgical risks. To address the challenge of integrating force sensors on minimally invasive surgical tools in existing systems, a clamping force prediction method based on mechanical clamp blade motion parameters is proposed. The interrelation between clamping force, displacement, compression speed, and the contact area of the clamp blade indenter was analyzed through compression experiments conducted on isolated pig kidney tissue. Subsequently, a prediction model was developed using a backpropagation (BP) neural network optimized by the Sparrow Search Algorithm (SSA). This model enables real-time prediction of clamping force, facilitating more accurate estimation of forces between instruments and tissues during surgery. The results indicate that the SSA-optimized model outperforms traditional BP networks and genetic algorithm-optimized (GA) BP models in terms of both accuracy and convergence speed. This study not only provides technical support for enhancing surgical safety and efficiency, but also offers a novel research direction for the design of force feedback systems in minimally invasive surgical robots in the future.
Collapse
Affiliation(s)
- Yongli Yan
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China
| | - Tiansheng Sun
- The Fourth Medical Center of China General Hospital of People's Liberation Army, Beijing 100700, China
| | - Teng Ren
- School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China
| | - Li Ding
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China
- School of Biological Science and Medical Engineering, Beihang University, Beijing 100083, China
| |
Collapse
|
3
|
Wong SW, Crowe P. Visualisation ergonomics and robotic surgery. J Robot Surg 2023; 17:1873-1878. [PMID: 37204648 PMCID: PMC10492791 DOI: 10.1007/s11701-023-01618-7] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/29/2023] [Accepted: 05/13/2023] [Indexed: 05/20/2023]
Abstract
Stereopsis may be an advantage of robotic surgery. Perceived robotic ergonomic advantages in visualisation include better exposure, three-dimensional vision, surgeon camera control, and line of sight screen location. Other ergonomic factors relating to visualisation include stereo-acuity, vergence-accommodation mismatch, visual-perception mismatch, visual-vestibular mismatch, visuospatial ability, visual fatigue, and visual feedback to compensate for lack of haptic feedback. Visual fatigue symptoms may be related to dry eye or accommodative/binocular vision stress. Digital eye strain can be measured by questionnaires and objective tests. Management options include treatment of dry eye, correction of refractive error, and management of accommodation and vergence anomalies. Experienced robotic surgeons can use visual cues like tissue deformation and surgical tool information as surrogates for haptic feedback.
Collapse
Affiliation(s)
- Shing Wai Wong
- Department of General Surgery, Prince of Wales Hospital, Sydney, NSW, Australia.
- Randwick Campus, School of Clinical Medicine, The University of New South Wales, Sydney, NSW, Australia.
| | - Philip Crowe
- Department of General Surgery, Prince of Wales Hospital, Sydney, NSW, Australia
- Randwick Campus, School of Clinical Medicine, The University of New South Wales, Sydney, NSW, Australia
| |
Collapse
|
4
|
Chua Z, Okamura AM. A Modular 3-Degrees-of-Freedom Force Sensor for Robot-Assisted Minimally Invasive Surgery Research. SENSORS (BASEL, SWITZERLAND) 2023; 23:s23115230. [PMID: 37299958 DOI: 10.3390/s23115230] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/18/2023] [Revised: 05/07/2023] [Accepted: 05/29/2023] [Indexed: 06/12/2023]
Abstract
Effective force modulation during tissue manipulation is important for ensuring safe, robot-assisted, minimally invasive surgery (RMIS). Strict requirements for in vivo applications have led to prior sensor designs that trade off ease of manufacture and integration against force measurement accuracy along the tool axis. Due to this trade-off, there are no commercial, off-the-shelf, 3-degrees-of-freedom (3DoF) force sensors for RMIS available to researchers. This makes it challenging to develop new approaches to indirect sensing and haptic feedback for bimanual telesurgical manipulation. We present a modular 3DoF force sensor that integrates easily with an existing RMIS tool. We achieve this by relaxing biocompatibility and sterilizability requirements and by using commercial load cells and common electromechanical fabrication techniques. The sensor has a range of ±5 N axially and ±3 N laterally with errors of below 0.15 N and maximum errors below 11% of the sensing range in all directions. During telemanipulation, a pair of jaw-mounted sensors achieved average errors below 0.15 N in all directions. It achieved an average grip force error of 0.156 N. The sensor is for bimanual haptic feedback and robotic force control in delicate tissue telemanipulation. As an open-source design, the sensors can be adapted to suit other non-RMIS robotic applications.
Collapse
Affiliation(s)
- Zonghe Chua
- Department of Electrical, Computer and Systems Engineering, Case Western Reserve University, 10900 Euclid Avenue, Glennan Building 514A, Cleveland, OH 44106, USA
| | - Allison M Okamura
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| |
Collapse
|
5
|
Batty T, Ehrampoosh A, Shirinzadeh B, Zhong Y, Smith J. A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling. SENSORS (BASEL, SWITZERLAND) 2022; 22:s22249770. [PMID: 36560138 PMCID: PMC9780898 DOI: 10.3390/s22249770] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/17/2022] [Revised: 12/07/2022] [Accepted: 12/09/2022] [Indexed: 06/12/2023]
Abstract
In recent years, robotic minimally invasive surgery has transformed many types of surgical procedures and improved their outcomes. Implementing effective haptic feedback into a teleoperated robotic surgical system presents a significant challenge due to the trade-off between transparency and stability caused by system communication time delays. In this paper, these time delays are mitigated by implementing an environment estimation and force prediction methodology into an experimental robotic minimally invasive surgical system. At the slave, an exponentially weighted recursive least squares (EWRLS) algorithm estimates the respective parameters of the Kelvin-Voigt (KV) and Hunt-Crossley (HC) force models. The master then provides force feedback by interacting with a virtual environment via the estimated parameters. Palpation experiments were conducted with the slave in contact with polyurethane foam during human-in-the-loop teleoperation. The experimental results indicated that the prediction RMSE of error between predicted master force feedback and measured slave force was reduced to 0.076 N for the Hunt-Crossley virtual environment, compared to 0.356 N for the Kelvin-Voigt virtual environment and 0.560 N for the direct force feedback methodology. The results also demonstrated that the HC force model is well suited to provide accurate haptic feedback, particularly when there is a delay between the master and slave kinematics. Furthermore, a haptic feedback approach that incorporates environment estimation and force prediction improve transparency during teleoperation. In conclusion, the proposed bilateral master-slave robotic system has the potential to provide transparent and stable haptic feedback to the surgeon in surgical robotics procedures.
Collapse
Affiliation(s)
- Taran Batty
- Australian Synchrotron, ANSTO, Melbourne, VIC 3168, Australia
| | - Armin Ehrampoosh
- Robotics and Mechatronics Research Laboratory (RMRL), Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC 3800, Australia
| | - Bijan Shirinzadeh
- Robotics and Mechatronics Research Laboratory (RMRL), Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC 3800, Australia
| | - Yongmin Zhong
- Department of Mechanical and Automotive Engineering, RMIT University, Melbourne, VIC 3083, Australia
| | - Julian Smith
- Department of Surgery, Monash University, Melbourne, VIC 3800, Australia
| |
Collapse
|
6
|
Muñoz VF. Sensors Technology for Medical Robotics. SENSORS (BASEL, SWITZERLAND) 2022; 22:9290. [PMID: 36501991 PMCID: PMC9736968 DOI: 10.3390/s22239290] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/10/2022] [Accepted: 11/21/2022] [Indexed: 06/17/2023]
Abstract
There are many definitions for the concept of a robot, perhaps too many; it has even been said that we do not know how to define them, but when we see a robot, we identify it [...].
Collapse
Affiliation(s)
- Víctor F Muñoz
- Department of System Engineering and Automation C/Severo Ochoa 4, Universidad de Malaga, 29590 Malaga, Spain
| |
Collapse
|
7
|
Nagy TD, Haidegger T. Performance and Capability Assessment in Surgical Subtask Automation. SENSORS 2022; 22:s22072501. [PMID: 35408117 PMCID: PMC9002652 DOI: 10.3390/s22072501] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/28/2022] [Revised: 03/16/2022] [Accepted: 03/19/2022] [Indexed: 02/04/2023]
Abstract
Robot-Assisted Minimally Invasive Surgery (RAMIS) has reshaped the standard clinical practice during the past two decades. Many believe that the next big step in the advancement of RAMIS will be partial autonomy, which may reduce the fatigue and the cognitive load on the surgeon by performing the monotonous, time-consuming subtasks of the surgical procedure autonomously. Although serious research efforts are paid to this area worldwide, standard evaluation methods, metrics, or benchmarking techniques are still not formed. This article aims to fill the void in the research domain of surgical subtask automation by proposing standard methodologies for performance evaluation. For that purpose, a novel characterization model is presented for surgical automation. The current metrics for performance evaluation and comparison are overviewed and analyzed, and a workflow model is presented that can help researchers to identify and apply their choice of metrics. Existing systems and setups that serve or could serve as benchmarks are also introduced and the need for standard benchmarks in the field is articulated. Finally, the matter of Human–Machine Interface (HMI) quality, robustness, and the related legal and ethical issues are presented.
Collapse
Affiliation(s)
- Tamás D. Nagy
- Antal Bejczy Center for Intelligent Robotics, EKIK, Óbuda University, Bécsi út 96/B, 1034 Budapest, Hungary;
- Doctoral School of Applied Informatics and Applied Mathematics, Óbuda University, Bécsi út 96/B, 1034 Budapest, Hungary
- Biomatics Institute, John von Neumann Faculty of Informatics, Óbuda University, Bécsi út 96/B, 1034 Budapest, Hungary
- Correspondence:
| | - Tamás Haidegger
- Antal Bejczy Center for Intelligent Robotics, EKIK, Óbuda University, Bécsi út 96/B, 1034 Budapest, Hungary;
- Austrian Center for Medical Innovation and Technology (ACMIT), Viktor-Kaplan-Straße 2/1, 2700 Wiener Neustadt, Austria
| |
Collapse
|