A delayed force-reflecting haptic controller for master–slave neurosurgical robots

This paper presents a new force-reflecting control system for master–slave haptic devices. This controller has been implemented and tested on the robotic systems for minimally invasive neurosurgery developed by our Research Group. Robot-assisted surgery is a very valuable treatment, since it allows benefits of high precision, accuracy, and repeatability of robotic devices. The proposed controller is meant to be used for master–slave haptic robotic surgery, but it can be used for any device that provides haptic feedback. The new controller merges the paradigms of force reflection (FR) control and delayed reference control. Unlike the FR control, the proposed solution enhances the safety since it does not allow an unwanted motion of the slave device once the operator releases the haptic controller. Experimental tests are provided to show the capabilities and the performance of the controller. Closed-loop stability is investigated both theoretically and experimentally. The analytic results on stability impose a limit on the ratio between the measured contact force and the sampling frequency of the closed-loop controller. Graphical Abstract

[1]  Tetsuyou Watanabe,et al.  Force-detecting gripper and force feedback system for neurosurgery applications , 2013, International Journal of Computer Assisted Radiology and Surgery.

[2]  Oussama Khatib,et al.  Springer Handbook of Robotics , 2007, Springer Handbooks.

[3]  Hiroyuki Kagawa,et al.  Force Feedback Manipulating System for Neurosurgery , 2013 .

[4]  Anne-Sophie Nyssen,et al.  Perceptual and instrumental impacts of robotic laparoscopy on surgical performance , 2007, Surgical Endoscopy.

[5]  Paolo Gallina.  Delayed Reference Control for Hotwire Cutting of Expandable Polystyrene Foam , 2006 .

[6]  Alois Knoll,et al.  Haptic Feedback in a Telepresence System for Endoscopic Heart Surgery , 2007, PRESENCE: Teleoperators and Virtual Environments.

[7]  P. Kazanzides,et al.  Future Trends in Robotic Neurosurgery , 2008 .

[8]  John J. van den Dobbelsteen,et al.  Force feedback and basic laparoscopic skills , 2008, Surgical Endoscopy.

[9]  Septimiu E. Salcudean,et al.  Application of force feedback to heavy duty hydraulic machines , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[10]  Nikolai Hungr,et al.  Interventional Radiology Robot for CT and MRI Guided Percutaneous Interventions , 2011, MICCAI.

[11]  A. Trevisani,et al.  Delayed-reference anti-swing control of overhead crane systems , 2008, 2008 10th IEEE International Workshop on Advanced Motion Control.

[12]  Yushing Cheung,et al.  Adaptive force reflecting teleoperation with local intelligence , 2007, Ind. Robot.

[13]  Mark W. Spong,et al.  Bilateral teleoperation: An historical survey , 2006, Autom..

[14]  M. C. Cavusoglu,et al.  In Touch with Robotics: Neurosurgery for the Future , 2005, Neurosurgery.

[15]  Jens Kather,et al.  Robotic hip arthroscopy in human anatomy , 2010, The international journal of medical robotics + computer assisted surgery : MRCAS.

[16]  Christopher R. Wagner,et al.  The Benefit of Force Feedback in Surgery: Examination of Blunt Dissection , 2007, PRESENCE: Teleoperators and Virtual Environments.

[17]  Carlo Cavedon,et al.  Stereotactic Interstitial Radiosurgery and Intraoperative Radiotherapy with a Miniature X-Ray Device in the Treatment of Selected Brain Tumors , 2002 .

[18]  Mark R. Cutkosky,et al.  System identification of the human hand grasping a haptic knob , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[19]  A Rossi,et al.  A telerobotic haptic system for minimally invasive stereotactic neurosurgery , 2005, The international journal of medical robotics + computer assisted surgery : MRCAS.

[20]  Q Li,et al.  Robotics in neurosurgery: state of the art and future technological challenges , 2004, The international journal of medical robotics + computer assisted surgery : MRCAS.

[21]  S. Hayati,et al.  A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery , 1988, IEEE Transactions on Biomedical Engineering.

[22]  J. Edward Colgate,et al.  Passivity of a class of sampled-data systems: Application to haptic interfaces , 1997 .

[23]  Kuu-Young Young,et al.  Force reflection and manipulation for a VR-based telerobotic system , 2000 .

[24]  Ken Masamune,et al.  Robots for stereotactic neurosurgery , 1995, Adv. Robotics.

[25]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[26]  Paolo Gallina,et al.  Delayed Reference Control of a Two-Mass Elastic System , 2004 .

[27]  A. TREVISANI,et al.  Towards a Model of the Human Hand : Linear System Identification of the Human Grasp , 2004 .

[28]  Serenella Russo,et al.  Stereotactic Interstitial Radiosurgery with a Miniature X-Ray Device in the Minimally Invasive Treatment of Selected Tumors in the Thalamus and the Basal Ganglia , 2003, Stereotactic and Functional Neurosurgery.

[29]  Mahdi Tavakoli,et al.  A force reflective master-slave system for minimally invasive surgery , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[30]  F. Charbel,et al.  Learning Retention of Thoracic Pedicle Screw Placement Using a High-Resolution Augmented Reality Simulator With Haptic Feedback , 2011, Neurosurgery.

[31]  Mahdi Tavakoli,et al.  Introduction to haptics for neurosurgeons. , 2013, Neurosurgery.

[32]  Alberto Trevisani,et al.  A Robotic Approach to Stereotactic Radio-Surgery , 2004 .

[33]  Giovanni Boschetti,et al.  Delayed reference control for multi-degree-of-freedom elastic systems: Theory and experimentation , 2011 .

[34]  Aldo Rossi,et al.  A master-slave haptic system for neurosurgery , 2011 .

[35]  Michael Trippel,et al.  Stereotactic interstitial radiosurgery with the Photon Radiosurgery System (PRS) for metastatic brain tumors: a prospective single-center clinical trial. , 2009, International journal of radiation oncology, biology, physics.

[36]  T. Varma,et al.  Use of the NeuroMate stereotactic robot in a frameless mode for functional neurosurgery , 2006, The international journal of medical robotics + computer assisted surgery : MRCAS.

[37]  Roberto Caracciolo,et al.  Moving the suspended load of an overhead crane along a pre-specified path: A non-time based approach , 2014 .

[38]  Silvio H. R. Rizzi,et al.  Sensory and Motor Skill Testing in Neurosurgery Applicants: A Pilot Study Using a Virtual Reality Haptic Neurosurgical Simulator. , 2013, Neurosurgery.

[39]  Mahdi Tavakoli,et al.  Haptics for Teleoperated Surgical Robotic Systems , 2008, New Frontiers in Robotics.

[40]  Roberto Caracciolo,et al.  A Non-Time Based Controller for Load Swing Damping and Path-Tracking in Robotic Cranes , 2014, J. Intell. Robotic Syst..