Force model-based haptic master console design for teleoperated minimally invasive surgery application

Teleoperated robot assisted minimally invasive surgery has been attained greatly achievements in last two decades. Viewed from surgery scenario, the master console design is very important in the whole teleoperated robot assisted system because it connects the slave robotic system and the surgeon. It is common needs for the teleoperated system to provide the haptic sensation to the surgeon. In this paper, a catheter interaction force model was established, moreover a haptic master console was designed to do the catheter intervention surgery by utilizing the smart materials-Magnetorheological fluids (MRFs), which can provide the haptic sensation based on the interaction force model. Experiments illustrated that haptic sensation can be obtained by operating the designed haptic master console.

[1]  Gregory N. Washington,et al.  Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery , 2009 .

[2]  Peyman Yadmellat,et al.  Adaptive hysteresis compensation for a magneto-rheological robot actuator , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  B. Bhushan.  Contact mechanics of rough surfaces in tribology: multiple asperity contact , 1998 .

[4]  Shuxiang Guo,et al.  A novel active catheter system for Ileus treatment , 2008, 2008 IEEE International Conference on Automation and Logistics.

[5]  Suncica Canic,et al.  Modeling Viscoelastic Behavior of Arterial Walls and Their Interaction with Pulsatile Blood Flow , 2006, SIAM J. Appl. Math..

[6]  Metin Sitti,et al.  Micro-Scale Mobile Robotics , 2013, Found. Trends Robotics.

[7]  Robert D. Howe,et al.  Position Control of Motion Compensation Cardiac Catheters , 2011, IEEE Transactions on Robotics.

[8]  Shuxiang Guo,et al.  A haptic catheter operating system using magnetorheological fluids , 2014, 2014 IEEE International Conference on Mechatronics and Automation.

[9]  Antoine Ferreira,et al.  Dynamic behavior investigation for trajectory control of a microrobot in blood vessels , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Atsushi Konno,et al.  Design and evaluation of an encountered-type haptic interface using MR fluid for surgical simulators , 2013, Adv. Robotics.

[11]  J. De Baerdemaeker,et al.  Discrete element modelling for process simulation in agriculture , 2003 .

[12]  Shuxiang Guo,et al.  Motion characteristic evaluation of a catheter operating system using an optical mouse sensor , 2013, 2013 IEEE International Conference on Mechatronics and Automation.

[13]  Andrea Natale,et al.  Relationship Between Catheter Forces, Lesion Characteristics, “Popping,” and Char Formation: Experience with Robotic Navigation System , 2009, Journal of cardiovascular electrophysiology.

[14]  R. Rizzo,et al.  Electromagnetic Modeling and Design of Haptic Interface Prototypes Based on Magnetorheological Fluids , 2007, IEEE Transactions on Magnetics.

[15]  J. Blake,et al.  Haptic Glove With MR Brakes for Virtual Reality , 2009, IEEE/ASME Transactions on Mechatronics.

[16]  Hamid M. Lankarani,et al.  Compliant contact force models in multibody dynamics : evolution of the Hertz contact theory , 2012 .

[17]  Robert D. Howe,et al.  Robotic catheter cardiac ablation combining ultrasound guidance and force control , 2014, Int. J. Robotics Res..

[18]  Sami Moisio,et al.  A Soft Contact Collision Method For Real-Time Simulation of Triangularized Geometries in Multibody Dynamics , 2013 .

[19]  Thenkurussi Kesavadas,et al.  Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices , 2010, The international journal of medical robotics + computer assisted surgery : MRCAS.

[20]  Shuxiang Guo,et al.  Collision detection algorithm based on AABB for Minimally Invasive Surgery , 2014, 2014 IEEE International Conference on Mechatronics and Automation.

[21]  Fumihito Arai,et al.  Catheter manipulation training system based on quantitative measurement of catheter insertion and rotation , 2014, Adv. Robotics.

[22]  Shuxiang Guo,et al.  Design and experimental evaluation of a teleoperated haptic robot–assisted catheter operating system , 2016 .