A six-degree-of-freedom passive arm with dynamic constraints (PADyC) for cardiac surgery application: preliminary experiments.

The purpose of Computer-Assisted Surgery (CAS) is to help physicians and surgeons plan and execute optimal strategies from multimodal image data. The execution of such planned strategies may be assisted by guidance systems. Some of these systems, called synergistic systems, are based on the cooperation of a robotic device with a human operator. We have developed such a synergistic device: PADyC (Passive Arm with Dynamic Constraints). The basic principle of PADyC is to have a manually actuated arm that dynamically constrains the authorized motions of the surgical tool held by the human operator during a planned task. Dynamic constraints are computed from the task definition, and are implemented by a patented mechanical system. In this paper, we first introduce synergistic systems and then focus on modeling and algorithmic issues related to the dynamic constraints. Finally, we describe a 6-degree-of-freedom prototype robot designed for a clinical application (cardiac surgery) and report on preliminary experiments to date. The experimental results are then discussed, and future work is proposed.

[1]  P. Cinquin,et al.  Computer-assisted spine surgery: a technique for accurate transpedicular screw fixation using CT data and a 3-D optical localizer. , 1995, Journal of image guided surgery.

[2]  Ulrich Rembold,et al.  Robot controlled osteotomy in craniofacial surgery , 1999 .

[3]  Fabrice Chassat,et al.  Experimental Protocol for Accuracy Evaluation of 6-d Localizers for Computer-Integrated Surgery: Application to Four Optical Localizers , 1998, MICCAI.

[4]  J Troccaz,et al.  Computer assisted pericardial puncture: work in progress. , 1997, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[5]  J. Edward Colgate,et al.  Passive robots and haptic displays based on nonholonomic elements , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[6]  W. Eric L. Grimson,et al.  Evaluating and Validating an Automated Registration System for Enhanced Reality Visualization in Surgery , 1995, CVRMed.

[7]  H. Davis,et al.  Torque control of a redundantly actuated passive manipulator , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[8]  M. Roth,et al.  A NEW LESS INVASIVE APPROACH TO KNEE SURGERY USING A VISION-GUIDED MANIPULATOR , 1996 .

[9]  Russell H. Taylor,et al.  A Model-Based Optimal Planning and Executions System with Active Sensing and Passive Manipulation for Augmenatation of Human Precision in Computer-Integrated Surgery , 1991, ISER.

[10]  Jean-Claude Latombe,et al.  Robot Motion Planning: A Distributed Representation Approach , 1991, Int. J. Robotics Res..

[11]  Russell H. Taylor,et al.  Development of a Surgical Robot for Cementless Total Hip Arthroplasty , 1992, Clinical orthopaedics and related research.

[12]  Jocelyne Troccaz,et al.  Computer-Guided Pericardiocentesis: Experimental Results and Clinical Perspectives , 2000, Herz.

[13]  Jocelyne Troccaz,et al.  Synergistic robots for surgery: an algorithmic view of the approach , 1998 .

[14]  Yves Delnondedieu.  Un robot à sécurité passive en réponse aux problèmes d'ergonomie et de sécurité en robotique médicale , 1997 .

[15]  Jocelyne Troccaz,et al.  Semi-active guiding systems in surgery. A two-dof prototype of the passive arm with dynamic constraints (PADyC) , 1996 .

[16]  Philippe Cinquin,et al.  Image guided operating robot: a clinical application in stereotactic neurosurgery , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[17]  J. Edward Colgate,et al.  Nonholonomic haptic display , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[18]  Brian L. Davies,et al.  Intra-operative Application of a Robotic Knee Surgery System , 1999, MICCAI.

[19]  J L Coudert,et al.  Computer-assisted dental implant surgery using computed tomography. , 1995, Journal of image guided surgery.

[20]  Michael A. Peshkin,et al.  Guiding systems for computer-assisted surgery: introducing synergistic devices and discussing the different approaches , 1998, Medical Image Anal..

[21]  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).

[22]  Werner Krybus,et al.  Computer-assisted surgery , 1990, IEEE Computer Graphics and Applications.