Mechanical design of a 5-DOF robotic interface for application in haptic simulation systems of large-organ laparoscopic surgery

Document Type : Article

Authors

1 - Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran - Robotic Surgery Lab., RCBTR, Tehran University of Medical Sciences, Tehran, Iran

2 Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran

3 Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran.

4 Department of Medical Physics & Biomedical Eng., School of Medicine, Robotic Surgery Lab., RCBTR, Tehran University of Medical Sciences, Tehran, Iran

Abstract

Laparoscopic manipulation of delicate large intra-abdominal organs is a difficult task that needs special training programs to improve the surgeons’ dexterity. In this study, the mechanical design of a robotic interface for haptic simulation of large-organ laparoscopic surgery is described. The designed robot enjoys five active DOFs, back drivability, low inertia, friction and backlash, and sufficiently large force/moment production capacity. The kinematics of the robot was analyzed and a functional prototype was fabricated for experimental tests. Results indicated that the target workspace was fully covered with no singular points inside. The mechanism was highly isotropic and the torque requirements were in the acceptable range. The trajectory tracking experiments against a 1 kg payload revealed an RMS of 0.9 mm, due to the simplifications of the kinematic model, i.e., not considering the friction and backlash effects. It was concluded that the designed robot could satisfy the mechanical requirements for being used as the robotic interface in a haptic large-organ laparoscopic surgery simulation system.

Keywords

Main Subjects

References

References:
1. Hong, M., Rozenblit, J.W., and Hamilton, A.J. "Simulation-based surgical training systems in laparoscopic surgery: A current review", Virtual Reality, 25(2), pp. 491-510 (2021).
2. Heijnsdijk, E.A.M., Dankelman, J., and Gouma, D.J. Effectiveness of grasping and duration of clamping using laparoscopic graspers", Surgical Endoscopy and other Interventional Techniques, 16(9), pp. 1329-1331 (2002).
3. Mirbagheri, A. and Farahmand, F. "Design, analysis, and experimental evaluation of a novel three-fingered endoscopic large-organ grasper", Journal of Medical Devices, 7(2), 025001 (2013).
4. Amirkhani, G., Farahmand, F.,Yazdian, S.M., et al. "An extended algorithm for autonomous grasping of soft tissues during robotic surgery", The International Journal of Medical Robotics and Computer Assisted Surgery, 16(5), pp. 1-15 (2020).
5. Guo, Y., Cai, C., and Li, W. "Friction behaviour between a laparoscopic grasper and the large intestine during minimally invasive surgery", Biosurface and Biotribology, 8(1), pp. 58-68  (2022).
6. Sun, K., Li, M., Wang, S., et al. "Development of a fiber Bragg grating-enabled clamping force sensor integrated on a grasper for laparoscopic surgery", IEEE Sensors Journal, 21(15),  p. 16681-16690 (2021).
7. Bhakhri, K., Harrison-Phipps, K., Harling, L., et al."Should  robotic surgery simulation be introduced in the core surgical training curriculum?", Frontiers in Surgery, 8, 595203 (2021).
8. Badash, I., Burtt, K., Solorzano, C.A., et al. "Innovations in surgery simulation: a review of past, current and future techniques", Annals of Translational Medicine, 4(23) (2016).
9. Sadeghnejad, S., Elyasi, N., Farahmand, F., et al. "Hyperelastic modeling of sino-nasal tissue for haptic neurosurgery simulation", Scientia Iranica, 27(3), pp. 1266-1276 (2020).
10. Silva, A.J., Ramirez, O.A.D., Vega, V.P., et al. "Phantom omni haptic device: Kinematic and manipulability", 2009 Electronics, Robotics and Automotive Mechanics Conference (CERMA), Morelos, Mexico, pp. 193-198 (2009).
11. Leleve, A., McDaniel, T., and Rossa, C. "Haptic training simulation", Frontiers in Virtual Reality, 1, p. 3 (2020).
12. Payandeh, S. and Li, "Toward new designs of haptic devices for minimally invasive surgery", International Congress Series, 1256, pp. 775-781 (2003).
13. Basafa, E., Sheikholeslami, M., Mirbagheri, A., et al. "Design and implementation of series elastic actuators for a haptic laparoscopic device", 2009 Annu. Int. Conf. IEEE Eng. Med. Biol., pp. 6054-6057 (2009).
14. Khan, Z.A., Kamal, N., Hameed, A., et al. "SmartSIMa virtual reality simulator for laparoscopy training using a generic physics engine", Int. J. Med. Robot. Comput. Assist. Surg., 13(3), p. e1771 (2017).
15. "CAE LapVR, CAE Healthcare", https://www. caehealthcare.com/surgical-simulation/lapvr/, cited July 16 (2021).
16. "LapSim, surgical science", https://surgicalscience. com/simulators/lapsim/, cited July 16 (2021).
17. Dalvand, M.M., Nahavandi, S., Fielding, M., et al. "Modular instrument for a haptically-enabled robotic surgical system (herosurg)", IEEE Access, 6, pp. 31974-31982 (2018).
18. Wang, P., Zhang, S., Liu, Z., et al. "Smart laparoscopic grasper integrated with fiber Bragg grating based tactile sensor for real-time force feedback", Journal of Biophotonics, 15(5), e202100331 (2022).
19. Sata, N., Shiozawa, M., Suzuki, A., et al. "Retroperitoneal hand-assisted laparoscopic surgery for endoscopic adrenalectomy", Surg. Endosc. Other Interv. Tech., 20(5), pp. 830-833 (2006).
20. Habermalz, B., Sauerland, S., Decker, G., et al.  Laparoscopic splenectomy: the clinical practice guidelines of the European Association for Endoscopic Surgery (EAES)", Surgical Endoscopy, 22(4), pp. 821- 848 (2008).
21. Mirbagheri, A. and Farahmand, F. "A triple-jaw actuated and sensorized instrument for grasping large organs during minimally invasive robotic surgery", Int. J. Med. Robot. Comput. Assist. Surg., 9(1), pp. 83-93 (2013).
22. Liu, H., Selvaggio, M., Ferrentino, P., et al. "The MUSHA hand II: A multifunctional hand for robotassisted laparoscopic surgery", IEEE/ASME Trans. Mechatron., 26(1), pp. 393-404 (2020).
23. Khadem, S.M., Behzadipour, S., Boroushaki, M., et al. "Design and implementation of an emotional learning controller for force control of a robotic laparoscopic instrument", Frontiers in Biomedical Technologies, 1(3), pp. 168-181 (2014).
24. Khadem, S.M., Behzadipour, S., Mirbagheri, A., et al. "A modular force-controlled robotic instrument for minimally invasive surgery-efficacy for being used in autonomous grasping against a variable pull force", Int. J. Med. Robot. Comput. Assist. Surg., 12(4), pp. 620-633 (2016).
25. Waters, I., Wang, L., Jones, D., et al. "Incipient slip sensing for improved grasping in robot assisted surgery", IEEE Sensors Journal, 22(16), pp. 16545- 16554 (2022).
26. Waters, I., Jones, D., Alazmani, A., et al. "Utilising incipient slip for grasping automation in robot assisted surgery", IEEE Robot. Autom. Lett., 7(2), pp. 1071- 1078 (2021).
27. Lum, M.J., Rosen, J., Sinanan, M.N., et al. "Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches", IEEE Trans. Biomed. Eng., 53(7), pp. 1440-1445 (2006).
28. Rosen, J., MacFarlane, M., Richards, C., et al. "Surgeon-tool force/torque signatures-evaluation of surgical skills in minimally invasive surgery", Stud. Health Technol. Inform., 62, pp. 290-296 (1999).
29. Trejos, A.L., Patel, R.V., and Naish, M.D. "Force sensing and its application in minimally invasive surgery and therapy: a survey", Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 224(7), pp. 1435- 1454 (2010).
30. Basafa, E., Farahmand, F., and Vossoughi, G. "A nonlinear mass-spring model for more realistic and efficient simulation of soft tissues surgery", Stud. Health Technol. Inform., 132, p. 23 (2008).
31. Tirehdast, M., Mirbagheri, A., Asghari, M., et al. "Modeling of interaction between a three-fingered surgical grasper and human spleen", In Medicine Meets Virtual Reality, 18, pp. 663-669, IOS Press (2011).
32. Basafa, E. and Farahmand, F. "Real-time simulation of the nonlinear visco-elastic deformations of soft tissues", Int. J. Comput. Assist. Radiol. Surg., 6(3), pp. 297-307 (2011).
33. Abdi, E., Farahmand, F., and Durali, M. "A meshless EFG-based algorithm for 3D deformable modeling of soft tissue in real-time", Medicine Meets Virtual Reality, 19, pp. 1-7, IOS Press (2012).
34. Dehghani Ashkezari, H., Mirbagheri, A., Behzadipour, S., et al. "A mass-spring-damper model for real time simulation of the frictional grasping interactions between surgical tools and large organs", Scientia Iranica, 22(5), pp. 1833-1841 (2015).
35. Rosenberg, L.B. "Multiple degree-of-freedom mechanical interface to a computer system", U.S. Patent No. 6,246,390, 12 Jun. (2001).
36. Hadavand, M., Mirbagheri, A., Behzadipour, S., et al., "A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems", Int. J. Med. Robot. Comput. Assist. Surg., 10(2), pp. 129-139 (2014).
37. Guan, D., Yang, N., Lai, J., et al. "Kinematic modeling and constraint analysis for robotic excavator operations in piling construction", Automation in Construction, 126, 103666 (2021).
Scientia Iranica
Volume 31, Issue 1
January and February 2024
Pages 1-14

Files

Share

How to cite

Statistics