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Development of micro-tools for surgical applications

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Title: Development of micro-tools for surgical applications


1
UNIVERSITE' PIERRE ET MARIE CURIE   LABORATOIRE
DE ROBOTIQUE DE PARIS
UNIVERSITA' DEGLI STUDI DI GENOVA   FACOLTA' DI
INGEGNERIA
PHD THESIS EN COTUTELLE XVII CICLE
Development of micro-tools for surgical
applications
18 November 2005
SUPERVISORS PROF. ING. Rinaldo
MICHELINI PROF. ING. Philippe BIDAUD
STUDENT Francesco CEPOLINA
2
Index robotic surgery MEMS technologies
modules design system integration
3
Robotic surgery Robotic in-body equipment
Active catheters Endoscopes Autonomous
worms Navigating pills Remote-surgery
environments Orthopaedic surgery Eye
surgery Laparo/thorax-tomic surgery Surgical
end-effectors
4
Active catheters
Tohoku University
www.olympus.com
 
  Esashi catheter
Olympus catheters
5
Endoscopes 1 of 4
Hirose Yoneda Robotics lab
 
State of art
Ikuta laboratory
 Endoscope tip
Hirose and Ikuta endoscopes
6
Endoscopes 2 of 4
ARTS lab
Pisa arthroscope
 
Paris 6
LRP intestinal endoscope
7
Endoscopes 3 of 4
Dr. Gründler
  Swiss endoscope
Pennsylvania State University
 
Stanford Research Institute
EPAM endoscopes
8
Endoscopes 4 of 4
Imperial College of London
  Neuro-endoscopic operating instruments
Grenoble University
 
  Laparotomic endoscope
9
Autonomous worms 1 of 3
ARTS lab
Katholieke Uneversiteit Leuven
 
  Leuven intestinal worm
Pisa intestinal worm
10
Autonomous worms 2 of 3
Katholieke Uneversiteit Leuven
  Leuven intestinal worm arms
 
Korea worm
Korea Institute of Science and Technology
11
Autonomous worms 3 of 3
  Korea impulsive worm
Korea Institute of Science and Technology
Korea centipede worm
12
Navigating pills
www.rfnorika.com
 
  The Norika 3 pill
13
Robotic surgery Robotic in-body equipment
Active catheters Endoscopes Autonomous
worms Navigating pills Remote-surgery
environments Orthopaedic surgery Eye
surgery Laparo/thorax-tomic surgery Surgical
end-effectors
14
Robotic surgical systems
 
15
Orthopaedic surgery
Israel Institute of Technology
NASA Jet Propulsion Lab
Eye surgery
 
16
Laparo/thorax-tomic surgery
 
http//www.intuitivesurgical.com/
  The da Vinci surgery system
17
Surgical end-effectors 1 of 4
  The ZEUS surgery tools
http//www.intuitivesurgical.com/
 
da Vinci surgery tools
18
Surgical end-effectors 2 of 4
  da Vinci snake wrist
http//www.intuitivesurgical.com
Technical University of Lódz
 
Poland surgery gripper
19
Surgical end-effectors 3 of 4
Michigan State University College of Engineering
  Michigan surgery gripper
German Aerospace Center, DLR
 
German surgery gripper
20
Surgical end-effectors 4 of 4
Warsaw University of Technology
  Poland sewing effector
Daimler Benz
 
German forceps
21
Minimally invasive surgery clamps
F. Cepolina, R.C. Michelini, "Robots in
medicine A survey of in-body nursing aids.
Introductory overview and concept design hints."
22
Index robotic surgery MEMS technologies
modules design system integration
23
MEMS technologies 1/4
ELECTROSTATIC FORCE Comb drive Rotating comb
drive Wooble motor
PIEZOELECTRIC EFFECT Multilayer piezoelectric
actuators Ultrasonic motor Inchworm
piezoeletric motor
24
MEMS technologies 2/4
SHAPE MEMORY ALLOYS Actuators SMA
ELECTROMAGNETIC FIELD 1/2 Coreless DC motors

MAGNETO AND ELECTRO-STRICTIVE FORCE Electrostricti
ve actuators Elastomeric dielectric actuators
Magnetostrictive actuators MAGNETO- AND
ELECTRO- RHEOLOGICAL EFFECT
25
MEMS technologies 3/4
ELECTROMAGNETIC FIELD 2/2 Brushless DC motor
Micro linear motor Stepper motor
Micro stepper motor Solenoids Voice coil
motor
26
MEMS technologies 4/4
FLUID ACTUATION Bourdon pipe   Artificial
muscles     THERMAL EXPANSION
27
Index state of art MEMS technologies
modules design system integration
28
Modules design embodiment design
commercial components detail design
control
Target 1
Improvement of arm dexterity
29
Design process
30
Technical problems
Limited module size ? 10 mm max (fixed by the
trocar) L 30 mm max (fixed
by thorax)
Size
Limited actuators power ? block not active
joints, use light material limited n
of modules, limited payload
Machining
Limited space available ? use miniature screws,
gluing, welding How to link modules together
mechanic, power, signal
Operating theatre
High precision and accuracy is required ? arm
stiffness, error compensation Safety ? force
feedback, fast module retrieval, module
reliability, modules compliance
Control
Redundant robot control ? distributed logic,
singularities avoidance, coordination with 2nd
hand, sensor fusion, communication protocol
Actuation ? Material ? Transmission ? Sensors
?
31
Surgical articulated arm
Vladimir Filaretov Instrument design
In collaboration with Prof. Vladimir Filaretov
of Far Eastern State Technical University
(Vladivostok)
32
Arm with clutches
TECHNICAL PROBLEM Clutches are delicate
Precision machining is needed
33
Self powered forearm
TECHNICAL PROBLEM Motors limit the arms power
Low dexterity
34
Universal joint forearm
TECHNICAL PROBLEM Precision machining is needed
35
Flexible joints forearm
TECHNICAL PROBLEM Disposition of the wires
along the arm
36
The forearms family
37
Modules design embodiment design
commercial components detail design
control
38
Torque needed for sewing
Sewing torque 1,2 mNm
Actuation Material Transmission Sensors
39
Motor selection 1/2
Commercial miniature electric motors
COMMENTS Penn States sells miniature (1.8 mm
diam, 4 mm long) piezoelectric motors too
expensive (3300 Euro/each)
Actuation Material Transmission Sensors
40
Motor selection 2/2
Actuation Material Transmission Sensors
COMMENT Penn States piezo electric motors (1.8 mm
diam, 4 mm long) are too expensive (3300
Euro/each)
41
Material selection
Actuation Material Transmission Sensors
150 mm
42

Components selection
Motors
90 transmission
90 transmission
Angular sensors
550
3300
5
8
4
18
Actuation Material Transmission Sensors
43
Modules design embodiment design
commercial components detail design
control
44
Index
Detail design 1 DOF modules 2 DOF
modules End effectors Final solution
45
1DOF modules 1/5
TECHNICAL PROBLEM The face gear is not
feasible Link between the orange gear and the
pink part Low torque
OVERALL L 17.5mm (motor l 1.5mm) GEAR
RATIO 0.625
46
1DOF modules 2/5
TECHNICAL PROBLEM Multipole magnet offers low
resolution Multipole magnet is costly The
magnet is difficult to assemble Low torque
47
1DOF modules 3/5
TECHNICAL PROBLEM Consider undercutting for
gear design The gear, if magnetic, is difficult
to machine Low torque
Detail design Given for machining
48
1DOF modules 4/5
TECHNICAL PROBLEM Optic wires along the arm
This face gear is not machinable Low torque
49
1DOF modules 5/5
50
1DOF modules family
PROBLEM Low torque Too long Big gear
PROBLEM Low torque Face gear not machin.
PROBLEM Low torque Face gear not machin.
Sensor gives low resolution
PROBLEM Low torque The magnetic gear is not
machin.
PROBLEM Low torque The gear is not machin.
Cabling problems
51
1DOF modules rotational 1/3
PROBLEM Difficult assembly Crown gear is not
machinable Face gear is not machinable Low
torque
52
1DOF modules rotational 2/3
PROBLEM The magnetic gear is difficult to
make The sensor is costly Low torque
53
1DOF modules rotational 3/3
54
1DOF modules family
PROBLEM The magnetic gear is difficult to
make Complex assembly The sensor is costly
Low torque
PROBLEM Difficult assembly Crown gear is not
machinable (too small)
PROBLEM The magnetic gear is difficult to
make The sensor is costly Low torque
55
Index
Detail design 1 DOF modules 2 DOF
modules End effector Final solution
56
2DOF modules 1/4
module length 25.6mm dexterity 124 360 gear
teeth module 0.25mm gear ratio 8/24 (/24)
PROBLEM The face gears not available Conic
gears not usable Where to put sensors ?
57
2DOF modules 2/4
58
2DOF modules 3/4
59
2DOF modules 4/4
60
2DOF modules
PROBLEM The face gears are difficult to find
and to make. Conic gears give a solution
mechanically not working
PROBLEM Too long
61
Index
Detail design 1 DOF modules 2 DOF
modules End effector Final solution
62
Clamp 1/2
PROBLEM Too Long
ACTUATION Smoovy 5mm Harmonic drive 1500
OVERALL LENGTH 31,4 5,6 mm
POWER 58 N (optimistic)
63
Clamp 2/2
SMA actuated clamp
64
Clamps family
PROBLEM too much SMA elongation is needed
PROBLEM not much place for the wires
PROBLEM assembly
PROBLEM too long
PROBLEM assembly
PROBLEM we need a long module
PROBLEM force and elongation not along the axis
65
End effectors family
PROBLEM Fix the instrument respect to the
organ Assembly is complex Rotation of the
syringe needle
PROBLEM Integrate into the system position and
force sensors Control the blade advance See
exactly were the instrument is cutting
PROBLEM High clamping force is required
Friction between clamps and needle is low Final
module needs to be short
PROBLEM Throw out the sewing wire from the
spiral To tension the sewing wire To knot the
sewing wire
66
Sewing instrument
TECHNICAL PROBLEM Wire tensioning during
sewing Creation of knot
67
Index
Detail design 1 DOF modules 2 DOF
modules End effector Final solution
68
Modules selection
69
Final solution 1/4
70
Final solution 2/4
71
Final solution 3/4
72
Final solution 4/4
A
B
73
Index state of art MEMS technologies
modules design system integration
74
System integration architecture selection
workspace simulation evaluation
Target 2
Selection of a robotic platform able to carry the
arm
75
Arm carrier 1 industrial robot
PROBLEM production cost and weight the device
is cumbersome
Patient
76
Arm carrier 2 miniature robot
Zemiti Nabil PhD project
Patient
PROBLEM the device can exert limited force
the instrument is delicate
77
Arm carrier 3 snail
Preferred solution
The tendence is to push as many DoFs as
possible inside the robot
Patient
PROBLEM the device can exert limited force
the instrument is delicate
78
Snail architecture
Device syntesis
Module length
Insertion problem
Optimal N of DOFs
Multiple solutions
79
Snail 3D view
80
System integration architecture selection
kinematics simulation evaluation
Target 3
Analysis of the robot workspace and singularities
81
Workspace, singularities and control
Forward kinematics Singularity analysis Backward kinematics Robot dynamics
Denavit Hartenberg --- Robot workspace --- Maple parametric algorithm Graphic method screw theory --- Analytic method Plücker coordinates Velocity transform matrix --- Maple parametric module Database graphical output Reduction to polynomial method --- Piepers method --- Numerical method Creation of C simulation environment (on ODE language) --- motion strategy

82
Forward kinematics

83
Denavit Hartemberg formulation
6 DOF arm
Redundant arm
84
Instrument workspace Denavit Hartenberg
Forward kinematic
85
Instrument singularities screw theory
The mini-arm is a decoupled manipulator. The
configuration is singular if one of the following
conditions is satisfied
86
Instrument singularities velocity transform
matrix
Velocity transform matrix Tc
Determinant of Tc
Solutions
87
Instrument singularities iso-orientation surfaces
Screw theory
88
Instrument singularities overall view
Screw theory
89
Instrument singularities database query
1) Database creation by numerical analysis 2)
Singularities workspace database query
90
System integration architecture selection
workspace simulation evaluation
Target 4
Control of the redundant surgical robot
91
Distributed control strategy
92
Control of the snail surgery platform
TROCAR
Inverse dynamics Real-time control Obstacle
avoidance
The control of the surgery robot is implemented
(450 lines of code) using the ODE library
93
Path planning strategy
94
Sensor fusion
95
Arms cooperation
From 3 to 4 endoscopic arms are necessary to
complete a minimally invasive surgery operation
96
System integration architecture selection
workspace simulation evaluation
Target 5
Evaluation of the prototype performance
97
Proposed arm modules
98
Selection of modules prototypes
99
Prototypes single module
Damien Sallè Genetic arm optimisation
Prototype design, assembly
100
Actuation detail
101
Torque measurement
79 g
102
2 DOF module
Damien Sallè Genetic arm optimisation
Prototype design, assembly
103
Gripper I actuation
104
Gripper I performance
Clamping force 40 N
Damien Sallè Genetic arm optimisation
Prototype design, assembly
105
Gripper II overall view
Filippo Morra Gripper design
106
Gripper II actuation
Jaw and spring
Filippo Morra Gripper design
107
Vision
Sergio Daprati Gripper design
108
Arm prototype
Length 120 mm N of DoF 5 (inside) Weight 20 g
Damien Sallè Genetic arm optimisation
Prototype design, assembly
109
Snail joint detail
110
Surgery arm prototype performance
LRP Lab, Univ. of Paris 6
PMAR Lab, Univ. of Genoa
111
System integration
Silvia Frumento back-arm design
112
Conclusion
  • A concept for an agile modular surgical robot is
    presented and studied
  • Several possible modules have been designed, some
    prototyped and tested with satisfactory results
  • A strategy for effective operation of the robot
    is outlined and tested in simulation
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