Design of an intermediate layer to enhance operator awareness and safety in telesurgical systems

This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The control scheme is validated via experiments using a suture and an industrial manipulator. More specifically we show that operator awareness should be implemented as an integrated part of the safety level to maintain safety during surgery.

[1]  John Kenneth Salisbury,et al.  The Intuitive/sup TM/ telesurgery system: overview and application , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Anders Robertsson,et al.  Stability of haptic obstacle avoidance and force interaction , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Oussama Khatib,et al.  The haptic display of complex graphical environments , 1997, SIGGRAPH.

[4]  W. Bemelman,et al.  The efficacy of robot-assisted versus conventional laparoscopic vascular anastomoses in an experimental model. , 2004, European journal of vascular and endovascular surgery : the official journal of the European Society for Vascular Surgery.

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

[6]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[7]  D. Yuh,et al.  Effect of sensory substitution on suture-manipulation forces for robotic surgical systems. , 2005, The Journal of thoracic and cardiovascular surgery.

[8]  Dongjun Lee,et al.  Passive Bilateral Teleoperation With Constant Time Delay , 2006, IEEE Transactions on Robotics.

[9]  Mohamed R Ali,et al.  Robotic cholecystectomy: learning curve, advantages, and limitations. , 2006, The Journal of surgical research.

[10]  Blake Hannaford,et al.  Stable teleoperation with time-domain passivity control , 2004, IEEE Trans. Robotics Autom..

[11]  Michael Ortega-Binderberger,et al.  A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties , 2007, IEEE Transactions on Visualization and Computer Graphics.

[12]  Anders Robertsson,et al.  Flexible application development and high-performance motion control based on external sensing and reconfiguration of ABB industrial robot controllers , 2010, ICRA 2010.

[13]  Blake Hannaford,et al.  Sampled- and continuous-time passivity and stability of virtual environments , 2003, IEEE Transactions on Robotics.

[14]  Neville Hogan,et al.  Controlling impedance at the man/machine interface , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[15]  John Kenneth Salisbury,et al.  A constraint-based god-object method for haptic display , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[16]  Jang Ho Cho,et al.  Enhancement of human operator's perceptual sensitivity for telesurgical systems via polytopic system approach , 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[17]  D. Yuh,et al.  Effects of visual force feedback on robot-assisted surgical task performance. , 2008, The Journal of thoracic and cardiovascular surgery.

[18]  L. Jones.  Kinesthetic Sensing , 2000 .

[19]  Blake Hannaford,et al.  A design framework for teleoperators with kinesthetic feedback , 1989, IEEE Trans. Robotics Autom..

[20]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.