Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies

International Journal of Computer Assisted Radiology and Surgery
Rémi ChalardMarie-Aude Vitrani

Abstract

Robots with a spherical unactuated wrist can be used for minimally invasive surgery. With such a robot, positioning the wrist center controls the instrument tip position when assuming that the insertion site behaves like a lever with a fixed and known fulcrum. In practice, this assumption is not always respected. In this paper we first study the practical consequences of this problem in terms of tip precision positioning. We then propose a robotic control scheme that improves the precision compared to the fixed point assumption approach. In the first part of the paper, data recorded during robot-assisted transrectal needle positioning for prostate biopsies (nine patients) are exploited to quantify the positioning error induced by the use of a fixed point hypothesis in the positioning process. In the second part of the paper advanced control techniques allow for the online identification of a locally linear system that describes a model characterized by anisotropy and center displacement. A laboratory apparatus is used to demonstrate the resulting improvement on tip positioning precision. Errors obtained by processing the clinical data reach 7.5 mm at the tip in average. Errors obtained with the laboratory apparatus drop from 2....Continue Reading

References

Sep 30, 2005·Computer Aided Surgery : Official Journal of the International Society for Computer Aided Surgery·Emad M BoctorGabor Fichtinger
Jan 5, 2011·Progrès en urologie : journal de l'Association française d'urologie et de la Société française d'urologie·A OuzzaneUNKNOWN Committee of Cancerology of the French Association of Urology (CCAFU)
Oct 20, 2011·IEEE Transactions on Bio-medical Engineering·Axel KriegerLouis L Whitcomb
Apr 14, 2016·International Journal of Computer Assisted Radiology and Surgery·Marie-Aude VitraniPierre Mozer
Sep 5, 2017·IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division·Dan StoianoviciMohamad Allaf

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Citations

Jan 29, 2020·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Karthik Chandrasekaran, Asokan Thondiyath

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