Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Abstract

In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient’s abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An in-depth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.

Keywords

parallel robot / minimally invasive surgery / kinematics / simulation

References

[1] Gherman B, Vaida C, Pisla D, Plitea N. Singularities and workspace analysis for a parallel robot for minimally invasive surgery. In: Proceedings of 2010 IEEE International Conference on Automation Quality and Testing Robotics (AQTR), 2010, 1-6

[2] Taylor R, Stulberg S. Medical robotics working group section report. NSF Workshop on Medical Robotics and Computer-Assisted Medical Interventions, Bristol, England, 1996

[3] Plitea N, Hesselbach J, Pisla D,Raatz A, Vaida C, Budde C, Vlad L, Burisch A, Senner R. Innovative development of surgical parallel robots. In: Proceedings of 1st International Conference of Advancements of Medicine and Health Care through Technology, 2007, 201-206

[4] Kraft B M, Jäger C, Kraft K, Leibl B J, Bittner R. The AESOP robot system in laparoscopic surgery: increased risk or advantage for surgeon and patient? Surgical Endoscopy, 2004, 18(8): 1216-1223PMID:15457381

[5] Mettler L, Ibrahim M, Jonat W. One year of experience working with the aid of a robotic assistant (the voice-controlled optic holder AESOP) in gynaecological endoscopic surgery. Human Reproduction, 1998, 13(10): 2748-2750

[6] Long J A, Descotes J L, Skowron O, Troccaz J, Cinquin P, Boillot B, Terrier N, Rambeaud J J. Use of robotics in laparoscopic urological surgery: state of the art. Progres en Urologie, 2006, 16(1): 3-11 PMID:16526532

[7] Biomed Homepage. 2010, http://biomed.brown.edu

[8] Taylor R H, Funda J, Eldridge B, Gomory S, Gruben K, LaRose D, Talamini M, Kavoussi L, Anderson J. A telerobotic assistant for laparoscopic surgery. Engineering in Medicine and Biology Magazine, 1995, 14(3): 279-288

[9] Kobayashi E, Masamune K, Sakuma I, Dohi T, Hashimoto D. A new safe laparoscopic manipulator system with a five-bar linkage mechanism and an optical zoom. Computer Aided Surgery, 1999, 4(4): 182-192

[10] Rininsland H. ARTEMIS. A telemanipulator for cardiac surgery. European Journal of Cardio-Thoracic Surgery, 1999, 16(Suppl 2): S106-S111

[11] Aiono S, Gilbert J M, Soin B, Finlay P A, Gordan A. Controlled trial of the introduction of a robotic camera assistant (EndoAssist) for laparoscopic cholecystectomy. Surgical Endoscopy, 2002, 16(9): 1267-1270

[12] Degani A, Choset H, Wolf A, Zenati M A. Highly articulated robotic probe for minimally invasive surgery. In: Proceedings of 2006 IEEE International Conference on Robotics and Automation, Orlando, 2006, 4167-4172

[13] Lee Y J, Kim J, Ko S Y, Lee W J, Kwon D S. Design of a compact laparoscopic assistant robot: KaLAR. In: Proceedings of the International Conference on Automation and Systems, Korea, 2003, 2648-2653

[14] Berkelman P, Ma J. A compact modular teleoper-ated robotic minimally invasive surgery system. In: Proceedings of International Conference on Intelligent Robots and Systems, 2003

[15] Kim S K, Shin W H, Ko S Y, Kim J, Kwon D S. Design of a compact 5-DOF surgical robot of a spherical mechanism: Cures. In: Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2008, 990-995

[16] Polet R, Donnez J. Using a laparoscope manipulator (LAPMAN) in laparoscopic gynecological surgery. Surgical Technology International XVII-Gynecology, 2008, 17: 187-191

[17] Saing V, Sotthivirat S, Vilasrussamee J, Suthakornm J. Design of a new laparoscopic-holder assisting robot. In: Proceedings of 3rd International Symposium on Biomedical Engineering, Bangkok, Thailand, 2008, 278-281

[18] Voros S, Haber G P, Menudet J F, Long J A, Cinquin P. ViKY robotic scope holder: initial clinical experience and preliminary results using instrument tracking. In: Proceedings of IEEE/ASME Transactions on Mechatronics, 2010, 15(6): 879-886

[19] Intuitive Surgical Homepage. 2010, http://www.intuitivesurgical.com

[20] Titan Medical Homepage. 2010, http://www.titanmedicalinc.com

[21] Hagn U, Konietschke R, Tobergte A, Nickl M, Jörg S, Kübler B, Passig G, Gröger M, Fröhlich F, Seibold U, Le-Tien L, Albu-Schäffer A, Nothhelfer A, Hacker F, Grebenstein M, Hirzinger G. DLR MiroSurge: a versatile system for research in endoscopic telesurgery. International Journal of Computer Assisted Radiology and Surgery, 2010, 5(2): 183-193

[22] http://www.roboticstrends.com/research_academics/article/new_robot_with_force_feedback_promises_better_surgery

[23] Pisla D, Plitea N, Vaida C. Kinematic modeling and workspace generation for a new parallel robot used in minimally invasive surgery. Advances in Robot Kinematics: Analysis and Design, 2008, 459- 468

[24] Vaida C, Pisla D, Plitea N, Gherman B, Gyurka B, Stancel E, Hesselbach J, Raatz A, Vlad L, Graur F. Development of a control system for a parallel robot used in minimally invasive surgery. In: Proceeding of International conference on Advancements of Medicine and Health Care through Technology, 2009, 26, 171-176

[25] Plitea N, Pisla D, Vaida C. On kinematics of a parallel robot for minimally invasive surgery. PAMM, 2007, 7(1): 4010033-4010034

[26] Vaida C. Contributions to the development and kinematic-dynamic modelling of parallel robots for MIS. Dissertation for the Doctoral Degree, Cluj-Napoca, 2009

[27] Merlet J P. Parallel Robots. Springer: Kluwer Academic Publisher, 2006

[28] Gogu G. Structural Synthesis of Parallel Robots. New York: Springer, 2006

[29] Lum M J H, Rosen J, Sinanan M N, Hannaford B. Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, USA, 2004, 829-834

[30] Beasley R A, Howe R D, Dupont P E. Kinematic error correction for minimally invasive surgical robots. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, USA, 2004, 358-364

[31] Pisla D, Plitea N, Gherman B, Pisla A, Vaida C. Kinematical analysis and design of a new surgical parallel robot. Computational Kinematics, 2009, 273-282

[32] Graur F. Experimental laparoscopic cholecistectomy using PARAMIS parallel robot, In: Proceedings of SMIT 2009, Sinaia, Romania, 2009

[33] Zlatanov D, Bonev I A, Gosselin C M. Constraint singularities of parallel mechanisms. In: Proceedings of the IEEE International Conference on Robotics and Automation, USA, 2002, 496-502

[34] Gosselin C, Angeles J. Singularity analysis of closed-loop kinematic chains. IEEE Transactions on Robotics and Automation, 1990, 6(3): 281-290

[35] Pastorelli S, Battezzato A. Singularity analysis of a 3 degrees-of-freedom parallel manipulator. Computational Kinematics, 2009, 331-440

[36] Staicu S. Recursive modelling in dynamics of delta parallel robot. Robotica, 2009, 27: 199-207

[37] Maxon Motor A G. Maxon Motor Control. User CD-ROM, 2011

[38] B&R. Automation Studio, Control Software. DVD-ROM, 2011

Acknowledgements

This paper was supported by the projects "Doctoral studies in engineering sciences for developing the knowledge based society-SIDOC" with contract No. POSDRU/88/1.5/S/ 60078, co-funded from European Social Fund through Sectorial Operational Program Human Resources 2007-2013 and Scopes International Grant IZ74Z0-137361 entitled “Creative Alliance in Research and Education focused on Medical and Service Robotics (CARE-Robotics)”.

RIGHTS & PERMISSIONS

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg