Modeling and control of a parallel robot for needle surgery

The paper discusses the development of the dynamic model and the design of the control system of a new parallel robot called PmarNeedle. The PmarNeedle was purposely designed for needle surgery, one of the current frontiers of minimally invasive surgery, as slave robot driving the surgical tool within a surgical theater whose dimensions are small compared to in use robotic surgery theaters for laparoscopy. The paper presents the PmarNeedle kinematic and dynamic model used to define the control laws and to setup the control parameters. Simple PD control laws with and without nonlinearities compensation filters have been implemented. The work is developed in ProEngineer, Simulink and SimMechanics. Results obtained in the simulation environment are discussed.

[1]  J. Pinotti,et al.  Microlaparoscopy in gynecology: analysis of 16 cases and review of literature. , 2001, Revista do Hospital das Clinicas.

[2]  C. Low,et al.  Post-operative pain in needlescopic versus conventional laparoscopic cholecystectomy: a prospective randomised trial. , 2001, Journal of the Royal College of Surgeons of Edinburgh.

[3]  Matteo Zoppi,et al.  Toward lean minimally invasive robotic surgery , 2009, Robotica.

[4]  F. Brunicardi,et al.  Feasibility of Laparoscopic Cholecystectomy with Miniaturized Instrumentation in 50 Consecutive Cases , 1999, World Journal of Surgery.

[5]  Jian Luo,et al.  Clinical experience of needle‐laparoscopic cholecystectomy , 2000 .

[6]  Matteo Zoppi,et al.  4-DOF Parallel Architecture for Laparoscopic Surgery , 2008 .

[7]  D. Zlatanov,et al.  On the velocity analysis of interconnected chains mechanisms , 2006 .

[8]  Abe Fingerhut,et al.  Trocar placement for laparoscopic abdominal procedures: a simple standardized method. , 2004, Journal of the American College of Surgeons.

[9]  K W Lee,et al.  Two-port needlescopic cholecystectomy: prospective study of 100 cases. , 2005, Hong Kong medical journal = Xianggang yi xue za zhi.

[10]  Frank Tendick,et al.  Workspace analysis of robotic manipulators for a teleoperated suturing task , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[11]  N. Tagaya,et al.  Splenectomy using a completely needlescopic procedure: report of three cases. , 2002, Journal of laparoendoscopic & advanced surgical techniques. Part A.

[12]  Blake Hannaford,et al.  Quantifying surgeon grasping mechanics in laparoscopy using the Blue DRAGON system. , 2004, Studies in health technology and informatics.

[13]  K. Hong,et al.  Intraoral Removal of the Submandibular Gland: A New Surgical Approach , 2000, Otolaryngology--head and neck surgery : official journal of American Academy of Otolaryngology-Head and Neck Surgery.

[14]  Blake Hannaford,et al.  Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches , 2006, IEEE Transactions on Biomedical Engineering.