Towards haptics enabled surgical robotic system for NOTES

Haptics feedback is a potential enhancement for surgeon's performance in robotic surgery. In this paper, we attempted to tackle the challenges in this application from three aspects: haptic information acquisition, design of a haptics enabled master console and system control. Taking the MASTER (Master And Slave Transluminal Endoscopic Robot) system as an example, we shared our solutions and concerns in designing a haptic enabled robotic system specifically for NOTES. By analyzing the driving mechanism of the system, a method was proposed to estimate the forces at the distal end (end-effectors) by measuring the forces at the proximal end (actuator housing). To implement this method, a force transmission model was developed for tendon-sheath actuation with unknown arbitrary configurations. With the presence of haptic feedback, it appears that the position control of the system also could be improved. It is hoped that this robotic system enhanced with haptic feedback could help to pave the way to the introduction of clinical NOTES.

[1]  G. Hirzinger,et al.  A 6-Axis Forche/Torque Sensor Design for Haptic Feedback in Minimally Invasive Robotic Surgery , 2003 .

[2]  Paolo Dario,et al.  Tendon sheath analysis for estimation of distal end force and elongation , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[3]  Rajni V. Patel,et al.  Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector , 2005, The international journal of medical robotics + computer assisted surgery : MRCAS.

[4]  J. So,et al.  Total transvaginal endoscopic abdominal wall hernia repair: a NOTES survival study , 2009, Hernia.

[5]  B. Yao,et al.  Modeling of a closed loop cable-conduit transmission system , 2008, 2008 IEEE International Conference on Robotics and Automation.

[6]  Sergey V Kantsevoy,et al.  Peroral transgastric endoscopic ligation of fallopian tubes with long-term survival in a porcine model. , 2005, Gastrointestinal endoscopy.

[7]  William J. Peine,et al.  Design of an endoluminal NOTES robotic system , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011, Qingdao, China, September 17-19, 2011 , 2011, RAM.

[9]  Soo Jay Phee,et al.  Endoscopic submucosal dissection of gastric lesions by using a Master and Slave Transluminal Endoscopic Robot (MASTER). , 2010, Gastrointestinal endoscopy.

[10]  P. Swain.  Nephrectomy and natural orifice translumenal endoscopy (NOTES): transvaginal, transgastric, transrectal, and transvesical approaches. , 2008, Journal of endourology.

[11]  S. C. Low,et al.  Robotic system for no‐scar gastrointestinal surgery , 2008, The international journal of medical robotics + computer assisted surgery : MRCAS.

[12]  M. Kaneko,et al.  Basic considerations on transmission characteristics for tendon drive robots , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[13]  Jenny Dankelman,et al.  The Effect of Augmented Feedback on Grasp Force in Laparoscopic Grasp Control , 2010, IEEE Transactions on Haptics.

[14]  J. Marescaux,et al.  Natural Orifice Transluminal Endoscopic Surgery: Transgastric Cholecystectomy in a survival porcine model , 2008, Surgical Endoscopy.

[15]  Christopher R. Wagner,et al.  The role of force feedback in surgery: analysis of blunt dissection , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[16]  Christopher C Thompson,et al.  Peroral transgastric organ resection: a feasibility study in pigs. , 2006, Gastrointestinal endoscopy.

[17]  Vikesh K. Singh,et al.  Flexible transgastric peritoneoscopy: a novel approach to diagnostic and therapeutic interventions in the peritoneal cavity. , 2004, Gastrointestinal endoscopy.

[18]  Gianluca Palli,et al.  Model and control of tendon-sheath transmission systems , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[19]  Pietro Valdastri,et al.  Tendon sheath analysis for estimation of distal end force and elongation , 2009, AIM 2009.

[20]  S. C. Low,et al.  Natural orifice transgastric endoscopic wedge hepatic resection in an experimental model using an intuitively controlled master and slave transluminal endoscopic robot (MASTER) , 2010, Surgical Endoscopy.

[21]  D. Lomanto,et al.  Enhancement of spatial orientation and haptic perception for master-slave robotic Natural Orifice Transluminal Endoscopic Surgery (NOTES) , 2010, 2010 IEEE Conference on Robotics, Automation and Mechatronics.