Post on 15-Jun-2015
description
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
Irene Rivas BlancoP. del Saz-Orozco, I. Garcia-Morales, V. Muñoz
Department of System Engineering and AutomationUniversity of Málaga (Spain)
ROBOTIC SYSTEM FOR SINGLE ROBOTIC SYSTEM FOR SINGLE INCISION LAPAROSCOPIC SURGERYINCISION LAPAROSCOPIC SURGERY
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
I. INTRODUCTION
II. CAMERA ROBOT
III. REDUNDANT ROBOTIC GRASPER
IV. CONCLUSIONS & FUTURE WORK
INDEX
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
I. INTRODUCTIONI. INTRODUCTION
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
I. INTRODUCTION
• Single Incision Laparoscopic Surgery (SILS)
Loss of triangulation between camera and
instruments
Limitation of the range of motion of instruments outside the abdomen
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines(HMM) (HMM)
I. INTRODUCTION
Camera robot
Magnetic source
Magnetic source
Robotic grasper
Haptic
• System approach
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
II. CAMERA ROBOTII. CAMERA ROBOT
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
II. CAMERA ROBOT
net
Miniature robot
Roboticarm
Patient’sskin
3 cm
• 3V small size batteries
• Xbee module (wireless connectivity)
• Inclinometer
Camera
Magnets
LL1L2
LED
• Robot design
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
Өd
Geometric model
+
-
Right Magnet Controller
Left Magnet Controller
L2
L1
II. CAMERA ROBOT
• Global control scheme
InclinometerӨ
Geometric model
PID
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
II. CAMERA ROBOT
• Single Magnet Control
xdSliding mode
controlu
Working point estimationand linearization
K
State ObserverHall effect
sensori
x, v
Electromagnet
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
II. CAMERA ROBOT
• Simulations‐ First simulation: validate the sliding mode control strategy
Check the robustness of the system against parameter uncertainties
time (s) time (s)
dist
ance
(m)
CHANGE IN MASS CHANGE IN MAGNETIC CONSTANT
dist
ance
(m)
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
II. CAMERA ROBOT
• Simulations‐ Second simulation: validate the global control scheme
Check the system response to an inclination setpoint
time (s)time (s)
dist
ance
(m)
ROBOT INCLINATION MAGNETS DISTANCE
dist
ance
(m)
time (s)
angl
e (g
rade
s)
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
III. REDUNDANT ROBOTIC III. REDUNDANT ROBOTIC GRASPERGRASPER
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
III. ROBOTIC REDUNDANT GRASPER
Base frame
Tool frame
REDUNDANT KINEMATICS
Abdomen
EXTERIOR WORKSPACE
INTERIOR WORKSPACE
520 mm
• Grasper design
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
‐ Robotic grasper does not move as a conventional one
‐ Augmented reality to simulate a conventional surgical tool
Virtual tool
Surgical tool Robotic grasper
• Master Console
III. ROBOTIC REDUNDANT GRASPER
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
• Autonomous collaboration‐ Suture: difficult and time-consuming task
‐ Rosser method: uses a primary tool (surgeon) and a visupport tool (robot)
Primary tool
Support tool STATE DIAGRAM
III. ROBOTIC REDUNDANT GRASPER
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
• Sensory Systems and Interfaces
III. ROBOTIC REDUNDANT GRASPER
Voice recognition systemSurgeon
Maneuver recognition systemTracker 3D
Force sensor systemForce sensor
Camera Vision system
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
IV. CONCLUSIONS &IV. CONCLUSIONS & FUTURE WORKFUTURE WORK
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
IV. CONCLUSIONS
‐ Robotic system aimed at solving the main drawbacks of Single Incision Laparoscopic Surgery:
‐ Loss of triangulation (camera robot)
‐ Reduction of the range of motion (robotic grasper)
‐ Experiments with a first prototype of camera robot
‐ Dynamics analysis of robotic grasper
‐ Development of first prototype of robotic grasper
• Conclusions
• Future Work
Dep
artm
ent
of
Sys
yem
E
ng
inee
erin
g a
nd
Au
tom
atio
n
Víctor F. Muñoz Martínez
Research lines
THANK YOU FOR YOUR THANK YOU FOR YOUR ATTENTIONATTENTION