Using continuum robots for force-controlled semi autonomous organ exploration and registration

Rashid Yasin, Long Wang, Colette Abah, Nabil Simaan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

To perform semi-automated surgical tasks or to assign virtual fixtures for telemanipulated surgical procedures, accurate correspondence between preoperative and intraoperative organ geometry is required. To overcome organ deformation and shift relative to pre-operative images, this paper proposes using force-controlled exploration to update organ geometry using a deformable registration of a pre-operative model to the surgical scene. Since continuum robots can offer deep access into the anatomy, we explore the unique challenges associated with their use to achieve force-controlled exploration. A mixed feedback control law is proposed whereby joint-level and end-effector position measurements are used to satisfy a reference motion trajectory. A hybrid force/position controller is presented using sensory input from magnetic tracking and force sensing. Validation of the proposed control algorithms is achieved on the IREP (a single port access surgical system). Experimental results show that, despite deformation of an organ, the surgical plan can be deformably registered using force-controlled exploration data via an implementation of coherent point drift registration. Future work includes integrating intrinsic force sensing, updating virtual fixture laws in the presence of organ deformations or swelling, and semi-automation of surgical tasks.

Original languageEnglish
Title of host publication2018 International Symposium on Medical Robotics, ISMR 2018
Pages1-6
Number of pages6
ISBN (Electronic)9781538625125
DOIs
StatePublished - 6 Apr 2018
Event2018 International Symposium on Medical Robotics, ISMR 2018 - Atlanta, United States
Duration: 1 Mar 20183 Mar 2018

Publication series

Name2018 International Symposium on Medical Robotics, ISMR 2018
Volume2018-January

Conference

Conference2018 International Symposium on Medical Robotics, ISMR 2018
Country/TerritoryUnited States
CityAtlanta
Period1/03/183/03/18

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