defense_b
TRANSCRIPT
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COMPACT MODULAR TELEOPERATED LAPAROENDOSCOPIC SINGLE-SITE
ROBOTIC SURGICAL SYSTEM:
MS Defense
Jacob Isaac-Lowry
February 27, 2014
DESIGN, DEVELOPMENT, AND PRELIMINARY VALIDATION
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Outline Research contribution
Key Metrics
Discussion of results
Future work
Summary
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UH Single-Port System
Compact / Portable
Sufficient Performance
Low Production Cost
Modular
Key Metrics
Research Contribution:
Novel robot, overcomes existing limitations
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Existing System Summary
• Limited translation
and speed
• Limited force
generation
External Manipulators In Vivo Systems
• Large / bulky
• Limited angular motion
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Key Metrics
1. Compact / Portable
2. Sufficient Performance
3. Low Production Cost
4. Modular
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Previous UH System
Multi-port system
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Single-Port Concept
Previous Work
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Complete System
[Picture]
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Operating Volume • Measure of compactness
• Multi-system comparison
• Simple geometric representations
New UH Surgical Robot
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Operating Volume Previous UH Surgical Robot
DaVinci Surgical Robot
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Operating Volume
0.000
0.500
1.000
1.500
2.000
2.500
3.000
3.500
Current UH Previous UH RAVEN DaVinci
Cu
bic
Met
ers
Robotic Surgical Systems
Comparison of Surgical System Operating Volumes
91%
59% 53%
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Instrument Size • Reduce collisions
• Increase range of motion
Instrument for Previous UH System
Instrument for Current UH System
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Key Metrics
1. Compact / Portable
2. Sufficient Performance
3. Low Production Cost
4. Modular
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Control Design Position Control
Tool-Tip Forward Kinematics
Tool-Tip Inverse Kinematics
Instrument Wrist Kinematics
Proportional velocity control
Velocity Control
Hybrid Control
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Hardware
Architecture
USER
EEMIC(s) PC PC
Motor
Controller
Box(s)
Manipulator
Arm
Manipulator
Arm
Instrument Instrument
Robot
L R Phantom
Master Phantom
Master
Parallel Systems:
Master controllers
PC’s
Controllers
Robot/Instruments
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Control Performance • Accuracy and repeatability
• Measured via optical tracking
Optical
Tracker
Reflector Constellation
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Control Performance
• Benchmark
performance
• Shape tracing
exercise
Previous System
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Control Performance
Controlled
test criteria
Single-Port System
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Control Performance
Uncontrolled
test criteria
Single-Port System
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Control Performance
Instrument-Scope-
Instrument contact
Limited starting position
Angled endoscope lens
Coupled joint motions
Key Factors Influencing Behavior
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Surgical Task Trials • Standard SAGES FLS peg transfer task
• Multiple systems compared
Test procedure
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Surgical Task Trials
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Surgical Task Trials
0
5
10
15
20
25
30
35
40
45
RAVEN Multi-
port System
Previous UH
Multi-port
System
UH Single-port
System
DaVinci Multi-
port SystemInd
ivid
ua
l P
eg T
ran
sfer
Tim
e (s
)
Surgical Robotic Systems
Surgical System Peg Transfer Times
Test Failure Time
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Discussion
Low Production Cost
Key Metric:
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Discussion
Quick change
instrument
couplings
Replaceable
instrument tool tips
Modular
Key Metric:
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Future Work
Mechanical System Refinement
Advance pre-clinic trials
Control System Refinement
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Summary
Novel robot
Small size / Less cost
Sufficient performance
Achieved early
hardware goals
Further control
development needed
Conclusion Research
Contribution
Robot more accessible to surgical community
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Acknowledgements
Advisor
Dr. Peter Berkelman
Funding Organizations
• NIH
• Intuitive Surgical, Inc
Lab Mates
• Sahba Pedram
• Steele Okamoto (2013)
Personal
• Sarah Alessi
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Questions?