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Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

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Title: Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery
Authors: Leibrandt, K
Wisanuvej, P
Gras, G
Shang, J
Seneci, CA
Giataganas, P
Vitiello, V
Darzi, A
Yang, G-Z
Item Type: Journal Article
Abstract: The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace through natural orifices such as the mouth or the anus. Due to the long and narrow nature of these access pathways, external triangulation at the fulcrum point is very limited or absent, which makes introducing multiple degrees of freedom at the distal end of the instrument necessary. Additionally, high force and miniaturization requirements make the control of such instruments particularly challenging. This letter presents the kinematic considerations needed to effectively manipulate these novel instruments and allow us their dexterous control in confined spaces. A nonlinear calibration model is further used to map joint to actuator space and improve significantly the precision of the instrument's motion. The effectiveness of the presented approach is quantified with bench tests, and the usability of the system is assessed by three user studies simulating the requirements of a realistic surgical task.
Issue Date: 14-Feb-2017
Date of Acceptance: 31-Jan-2017
URI: http://hdl.handle.net/10044/1/54727
DOI: https://dx.doi.org/10.1109/LRA.2017.2668465
ISSN: 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 1704
End Page: 1711
Journal / Book Title: IEEE Robotics and Automation Letters
Volume: 2
Issue: 3
Copyright Statement: © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Department of Health
Wellcome Trust
Funder's Grant Number: HICF-T4-299
Keywords: Science & Technology
Calibration and identification
dexterous manipulation
medical robots and systems
telerobotics and teleoperation
Publication Status: Published
Appears in Collections:Department of Surgery and Cancer
Institute of Global Health Innovation
Faculty of Engineering