Hostname: page-component-586b7cd67f-l7hp2 Total loading time: 0 Render date: 2024-11-23T20:36:31.677Z Has data issue: false hasContentIssue false
  • English
  • Français

Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery

Published online by Cambridge University Press:  01 August 2018

C. A. Nelson ,
M. A. Laribi Open the ORCID record for M. A. Laribi [Opens in a new window]  and
S. Zeghloul
C. A. Nelson
Affiliation:
Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588-0526, USA Email: [email protected]
M. A. Laribi*
Affiliation:
Department of GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, 86962 Futuroscope Chasseneuil Cedex, France Email: [email protected]
S. Zeghloul
Affiliation:
Department of GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, 86962 Futuroscope Chasseneuil Cedex, France Email: [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Serial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting in an unsuitable compromise between avoiding collision with the patient and producing good kinematic and workspace characteristics. In this paper, we propose a multi-robot system composed of two redundant serial spherical linkages to achieve this purpose. A multi-objective optimization for achieving the aforementioned design goals is presented first for a single redundant robot and then for a multi-robot system. The problem of mounting multiple robots on the operating table as well as the way cooperative actions can be performed is addressed. The sensitivity of each optimal solution (single-robot and multi-robot) to uncertainties in the design parameters is investigated.

Keywords

Multi-robot systemSerial spherical mechanismRedundant linkageSurgical robotMinimally invasive surgery
Type
Articles
Information
Robotica , Volume 37 , Special Issue 7: Computational Kinematics Conference, CK 2017 , July 2019 , pp. 1202 - 1213
Copyright
© Cambridge University Press 2018 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

Berkelman, P., Boidard, E., Cinquin, E. and Troccaz, J., “LER: The Light Endoscope Robot,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, Las Vegas, NV, USA (2003) pp. 2835–2840.Google Scholar
Courreges, F., Smith-Guerin, N., Poisson, G., Vieyres, P., Gourdon, A., Szpieg, M. and Merigeaux, O., “Real-Time Exhibition of a Simulated Space Tele-Echography Using an Ultra-Light Robot,” Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space ISAIRAS, Canada (2001).Google Scholar
Eldridge, B., Gruben, K., LaRose, D., Funda, J., Gomory, S., Karidis, J., McVicker, G., Taylor, R. and Anderson, J., “A remote center of motion robotic arm for computer assisted surgery,” Robotica 14 (1), 103–109 (1996).CrossRefGoogle Scholar
Essomba, T., Nouaille, L., Laribi, M. A., Nelson, C. A., Zeghloul, S. and Poisson, G., “Spherical wrist dimensional synthesis adapted for tool-guidance medical robots,” Mech. Ind. 15 (3), 217–223 (2014).CrossRefGoogle Scholar
Kang, H. and Wen, J. T., “EndoBot: A Robotic Assistant in Minimally Invasive Surgeries,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, South Korea (2001) pp. 2031–2036.Google Scholar
Laribi, M. A., Rivière, T., Arsicault, M. and Zeghloul, S., “A Design of Slave Surgical Robot Based on Motion Cpture,” Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), Guangzhou, China (Dec. 11–14, 2012) pp. 600–605.CrossRefGoogle Scholar
Nelson, C. A. and Zhang, X., “Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator,” Proceedings of the International Design Engineering Technical Conferences & Computers and Information ASME IDETC2010, Montréal, Québec, Canada, (Aug. 15–18, 2010), ASME Paper No. DETC2010-28367 (2010).Google Scholar
Nouaille, L., Laribi, M. A., Nelson, C. A., Essomba, T., Poisson, G. and Zeghloul, S., “Design process for robotic medical tool-guidance manipulators,” Proc. IMechE Part C: J. Mech. Eng. Sci. 230 (2), 259–275 (2016).CrossRefGoogle Scholar
Nouaille, L., Poisson, G., Zhang, X. and Nelson, C. A., “Method of dimensional optimization of spherical robots for medical applications using specialized indices,” Adv. Robot. 28 (3), 173–186 (2014).CrossRefGoogle Scholar
Olds, K., “Global indices for kinematic and force transmission performance in parallel robots,” IEEE Trans. Robot. 31 (2), 494–500 (2015).Google Scholar
Rininsland, H., “ARTEMIS. A telemanipulator for cardiac surgery,” Eur. J. Cardio-Thoracic Surg. 16 (2), 106–111 (1999).Google Scholar
Rosen, J., Brown, J. D., Chang, L., Barreca, M., Sinanan, M. and Hannaford, B., “The BlueDRAGON – a System for Measuring the Kinematics and the Dynamics of Minimally Invasive Surgical Tools In-Vivo,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC (2002) pp. 1876–1881.Google Scholar
Ebert-Uphoff, I., Gosselin, C. M. and Laliberté, T., “Static balancing of spatial parallel platform mechanisms – revisited,” J. Mech. Des. Trans. ASME 122 (1), 43–51. doi:10.1115/1.533544 (2000).CrossRefGoogle Scholar
Cafolla, D., Carbone, G. and Ceccarelli, M., “Balancing of a 3-dofs Parallel Manipulator,” In: Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots, (2016) pp. 173–191, DOI: 10.1007/978-3-319-17683-3_8.CrossRefGoogle Scholar
Schinozuka, M., “Monte Carlo solution of structural dynamics,” Comput. Struct. 2, 855–874 (1972).CrossRefGoogle Scholar
Tanev, T. K., Cammarata, A., Marano, D. and Sinatra, R., “Elastostatic Model of a New Hybrid Minimally Invasive Surgery Robot,” Proceedings of the 14th IFToMM World Congress, Taipei, Taiwan (Oct. 25–30 2015).Google Scholar
Vaida, C., Gherman, B., Pisla, D. and Plitea, N., “A Spherical Robot Arm for Instruments Positioning in Minimally Invasive Medical Applications,” Proceedings of the 2nd IFToMM Asian Conference on Mechanism and Machine Science, Tokyo, Japan (Nov. 7–10 2012).Google Scholar
Zemiti, N., Ortmaier, T., Vitrani, M. A. and Morel, G., “A Force Controlled Laparoscopic Surgical Robot Without Distal Force Sensing,” Proceedings of the 9th International Symposium on Experimental Robotics ISER'04, Singapore (2004).Google Scholar
Zhang, X. and Nelson, C. A., “Multiple-criteria kinematic optimization for the design of spherical serial mechanisms using genetic algorithms,” J. Mech. Des. 133 (1), 011005 (2011).CrossRefGoogle Scholar
Zhang, X. and Nelson, C. A., “Kinematic analysis and optimization of a novel robot for surgical tool manipulation,” J. Med. Devices 2 (2), 021003 (2008).CrossRefGoogle Scholar
Nelson, C. A., Laribi, M. A. and Zeghloul, S., “Optimization of a Redundant Serial Spherical Mechanism for Robotic Minimally Invasive Surgery,” Proceedings of the 7th International Workshop on Computational Kinematics, Futuroscope-Poitiers, France (May 2017), Mechanisms and Machine Science, Vol. 50, Springer, (2017) ISBN 978-3-319-60866-2.Google Scholar