A Steady-Hand Robotic System for Microsurgical Augmentation

This paper reports the development of a robotic system designed to extend a human’s ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgment, sensory integration, and hand-eye coordination. Our novel approach, which we call steady-hand micromanipulation, is for tools to be held simultaneously both by the operator’s hand and a specially designed actively controlled robot arm. The robot’s controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment.

[1]  Suguru Arimoto,et al.  Visual control of autonomous mobile robot based on self-organizing model for pattern learning , 1988, J. Field Robotics.

[2]  H. Kazerooni.  Human/robot interaction via the transfer of power and information signals. I. Dynamics and control analysis , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[3]  Homayoon Kazerooni,et al.  Human/robot interaction via the transfer of power and information signals , 1989, Images of the Twenty-First Century. Proceedings of the Annual International Engineering in Medicine and Biology Society,.

[4]  A. Guerrouad,et al.  SMOS: stereotaxical microtelemanipulator for ocular surgery , 1989, Images of the Twenty-First Century. Proceedings of the Annual International Engineering in Medicine and Biology Society,.

[5]  Yorktown Heights,et al.  An Image-directed Robotic System for Precise Orthopaedic Surgery , 1990 .

[6]  Daniel E. Koditschek,et al.  Comparative experiments with a new adaptive controller for robot arms , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[7]  W. M. Grant,et al.  Outflow facility studies in the perfused human ocular anterior segment. , 1991, Experimental eye research.

[8]  C. Pournaras,et al.  New ocular micromanipulator for measurements of retinal and vitreous physiologic parameters in the mammalian eye. , 1991, Experimental eye research.

[9]  Reid G. Simmons,et al.  Performance of a six-legged planetary rover: power, positioning, and autonomous walking , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[10]  Thomas B. Sheridan.  Teleoperation, Telerobotics, and Telepresence: A Progress Report , 1992 .

[11]  Janez Funda,et al.  Optimal motion control for teleoperated surgical robots , 1993, Other Conferences.

[12]  Russell H. Taylor,et al.  A telerobotic assistant for laparoscopic surgery , 1995 .

[13]  P J Hunter,et al.  Ophthalmic microsurgical robot and associated virtual environment. , 1995, Computers in biology and medicine.

[14]  Hari Das,et al.  Development of a new high-dexterity manipulator for robot-assisted microsurgery , 1995, Other Conferences.

[15]  Robert D. Howe,et al.  Tactile Display of Vibratory Information in Teleoperation and Virtual Environments , 1995, Presence: Teleoperators & Virtual Environments.

[16]  Kazuo Tanie,et al.  Discrete-event-based planning and control of telerobotic part-mating process with communication delay and geometric uncertainty , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[17]  Russell H. Taylor,et al.  Comparison of two manipulator designs for laparoscopic surgery , 1995, Other Conferences.

[18]  Tzyh Jong Tarn,et al.  Fusion of human and machine intelligence for telerobotic systems , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[19]  R. D. Hibberd,et al.  Robot assisted knee surgery , 1995 .

[20]  Cameron N. Riviere,et al.  Modeling and canceling tremor in human-machine interfaces , 1996 .

[21]  Russell H. Taylor,et al.  A remote center of motion robotic arm for computer assisted surgery , 1996, Robotica.

[22]  S. Sakakibara.  A two-armed intelligent robot assembles mini robots automatically , 1996, Proceedings of the 1996 IEEE IECON. 22nd International Conference on Industrial Electronics, Control, and Instrumentation.

[23]  Xiaoping Yun,et al.  Coordinated task execution of a human and a mobile manipulator , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[24]  Darrell K. Root,et al.  Space Robotics: Dynamics and Control , 1996 .

[25]  Hajime Morikawa,et al.  Ground experiment system for space robots based on predictive bilateral control , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[26]  Mamoru Mitsuishi,et al.  Dexterity enhancement for a tele-micro-surgery system with multiple macro-micro co-located operation point manipulators and understanding of the operator's intention , 1997, CVRMed.

[27]  Septimiu E. Salcudean,et al.  Performance measurement in scaled teleoperation for microsurgery , 1997, CVRMed.

[28]  Russell H. Taylor,et al.  An efficient needle injection technique and radiological guidance method for percutaneous procedures , 1997, CVRMed.

[29]  Suguru Arimoto,et al.  Adaptive model-based hybrid control of geometrically constrained robot arms , 1997, IEEE Trans. Robotics Autom..

[30]  Cameron N. Riviere,et al.  Augmenting the human-machine interface: improving manual accuracy , 1997, Proceedings of International Conference on Robotics and Automation.

[31]  D. Stoianovici,et al.  Robotics in urologic surgery. , 1997, Urology.

[32]  Brian L. Davies,et al.  Experiences with robotic systems for knee surgery , 1997, CVRMed.

[33]  Russell H. Taylor,et al.  Robot-assisted minimally invasive neurosurgical procedures: first experimental experience , 1997, CVRMed.

[34]  Lerner Ej.  Computer-integrated surgery. , 1997, New Jersey medicine : the journal of the Medical Society of New Jersey.

[35]  James H. Anderson,et al.  A robotic system for percutaneous renal access. , 1997, The Journal of urology.

[36]  E. de Juan,et al.  Quantitative measurement of the effects of caffeine and propranolol on surgeon hand tremor. , 1997, Archives of ophthalmology.

[37]  Michael A. Peshkin,et al.  The use of localizers, robots and synergistic devices in CAS , 1997, CVRMed.

[38]  S. Huang,et al.  Cost effectiveness of electrohydraulic lithotripsy v Candela pulsed-dye laser in management of the distal ureteral stone. , 1998, Journal of endourology.

[39]  Russell H. Taylor,et al.  A Modular Surgical Robotic System for Image Guided Percutaneous Procedures , 1998, MICCAI.

[40]  Eugene de Juan,et al.  In-vivo microscopy using gradient index of refraction (GRIN) lens endoscopy , 1999, Photonics West - Biomedical Optics.

[41]  Russell H. Taylor,et al.  Experiments with a steady hand robot in constrained compliant motion and path following , 1999, 8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483).

[42]  Russell H. Taylor,et al.  Performance of Robotic Augmentation in Microsurgery-Scale Motions , 1999, MICCAI.

[43]  C. Riviere,et al.  Intraoperative tremor monitoring for vitreoretinal microsurgery. , 2000, Studies in health technology and informatics.