[25-28 Oct 2012] Robotic System for Single Incision Laparoscopic Surgery

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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

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I. INTRODUCTION

II. CAMERA ROBOT

III. REDUNDANT ROBOTIC GRASPER

IV. CONCLUSIONS & FUTURE WORK

INDEX

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I. INTRODUCTIONI. INTRODUCTION

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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

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I. INTRODUCTION

Camera robot

Magnetic source

Magnetic source

Robotic grasper

Haptic

• System approach

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II. CAMERA ROBOTII. CAMERA ROBOT

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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

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Өd

Geometric model

+

-

Right Magnet Controller

Left Magnet Controller

L2

L1

II. CAMERA ROBOT

• Global control scheme

InclinometerӨ

Geometric model

PID

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II. CAMERA ROBOT

• Single Magnet Control

xdSliding mode

controlu

Working point estimationand linearization

K

State ObserverHall effect

sensori

x, v

Electromagnet

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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)

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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)

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III. REDUNDANT ROBOTIC III. REDUNDANT ROBOTIC GRASPERGRASPER

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III. ROBOTIC REDUNDANT GRASPER

Base frame

Tool frame

REDUNDANT KINEMATICS

Abdomen

EXTERIOR WORKSPACE

INTERIOR WORKSPACE

520 mm

• Grasper design

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‐ 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


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• 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


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• Sensory Systems and Interfaces


Voice recognition systemSurgeon

Maneuver recognition systemTracker 3D

Force sensor systemForce sensor

Camera Vision system

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IV. CONCLUSIONS &IV. CONCLUSIONS & FUTURE WORKFUTURE WORK

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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

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THANK YOU FOR YOUR THANK YOU FOR YOUR ATTENTIONATTENTION

[25-28 Oct 2012] Robotic System for Single Incision Laparoscopic Surgery

Health & Medicine

Transcript of [25-28 Oct 2012] Robotic System for Single Incision Laparoscopic Surgery