TY - GEN
T1 - Design and Evaluation of a Surgical Tool Drive Unit for Sustainable Training in Robot-Assisted Minimally Invasive Surgery
AU - Kenanoglu, Celal Umut
AU - Le Mesle, Valentin
AU - Luarasi, Gjergji
AU - Sadeghian, Hamid
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - The integration of robotic technology in surgical interventions, particularly in Robotic-Assisted Minimally Inva-sive Surgery (RAMIS), is increasingly recognized as a pivotal application within the medical domain. With the objective of addressing the need to reduce the carbon footprint of medical devices and the need to facilitate access to training for RAMIS in realistic scenarios, we propose an alternative recovery scheme for surgical tools employing a nonspecific Surgical Tool Drive Unit (STDU) that aims to connect any given tool to any robot manipulator. The paper also discusses strategies to mitigate the decrease in performance of repurposed tools, specifically focusing on issues such as tendon backlash and coupling. The performance of the STDU with repurposed tools is validated through various experiments, including assessments of repeatability, backlash compensation, and realistic surgery scenarios such as suturing and pick-and-place tasks. These experiments are conducted using a pre-defined trajectory and a remote haptic console.
AB - The integration of robotic technology in surgical interventions, particularly in Robotic-Assisted Minimally Inva-sive Surgery (RAMIS), is increasingly recognized as a pivotal application within the medical domain. With the objective of addressing the need to reduce the carbon footprint of medical devices and the need to facilitate access to training for RAMIS in realistic scenarios, we propose an alternative recovery scheme for surgical tools employing a nonspecific Surgical Tool Drive Unit (STDU) that aims to connect any given tool to any robot manipulator. The paper also discusses strategies to mitigate the decrease in performance of repurposed tools, specifically focusing on issues such as tendon backlash and coupling. The performance of the STDU with repurposed tools is validated through various experiments, including assessments of repeatability, backlash compensation, and realistic surgery scenarios such as suturing and pick-and-place tasks. These experiments are conducted using a pre-defined trajectory and a remote haptic console.
UR - http://www.scopus.com/inward/record.url?scp=85208610195&partnerID=8YFLogxK
U2 - 10.1109/BioRob60516.2024.10719745
DO - 10.1109/BioRob60516.2024.10719745
M3 - Conference contribution
AN - SCOPUS:85208610195
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1555
EP - 1560
BT - 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
PB - IEEE Computer Society
T2 - 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
Y2 - 1 September 2024 through 4 September 2024
ER -