slide1 l.
Download
Skip this Video
Loading SlideShow in 5 Seconds..
Development of micro-tools for surgical applications PowerPoint Presentation
Download Presentation
Development of micro-tools for surgical applications

Loading in 2 Seconds...

play fullscreen
1 / 112

Development of micro-tools for surgical applications - PowerPoint PPT Presentation


  • 528 Views
  • Uploaded on

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

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'Development of micro-tools for surgical applications' - sandra_john


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
slide1

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

slide2

Index

robotic surgery

MEMS technologies

modules design

system integration

slide3

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

slide4

Active catheters

Tohoku University

www.olympus.com

Esashi catheter

Olympus catheters

slide5

Endoscopes 1 of 4

Hirose + Yoneda

Robotics lab

State of art

Ikuta laboratory

Endoscope tip

Hirose and Ikuta endoscopes

slide6

Endoscopes 2 of 4

ARTS lab

Pisa arthroscope

Paris 6

LRP intestinal endoscope

slide7

Endoscopes 3 of 4

Dr. Gründler

Swiss endoscope

Pennsylvania State University

Stanford Research Institute

EPAM endoscopes

slide8

Endoscopes 4 of 4

Imperial College of London

Neuro-endoscopic operating instruments

Grenoble University

Laparotomic endoscope

slide9

Autonomous worms 1 of 3

ARTS lab

Katholieke Uneversiteit Leuven

Leuven intestinal worm

Pisa intestinal worm

slide10

Autonomous worms 2 of 3

Katholieke Uneversiteit Leuven

Leuven intestinal worm arms

Korea worm

Korea Institute of Science and Technology

slide11

Autonomous worms 3 of 3

Korea Institute of Science and Technology

Korea impulsive worm

Korea centipede worm

slide12

Navigating pills

www.rfnorika.com

The Norika 3 pill

slide13

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

slide15

Orthopaedic surgery

Israel Institute of Technology

NASA Jet Propulsion Lab

Eye surgery

slide16

Laparo/thorax-tomic surgery

http://www.intuitivesurgical.com/

The da Vinci® surgery system

slide17

Surgical end-effectors 1 of 4

The ZEUS® surgery tools

http://www.intuitivesurgical.com/

da Vinci® surgery tools

slide18

Surgical end-effectors 2 of 4

da Vinci® snake wrist

http://www.intuitivesurgical.com

Technical University of Lódz

Poland surgery gripper

slide19

Surgical end-effectors 3 of 4

Michigan State University College of Engineering

Michigan surgery gripper

German Aerospace Center, DLR

German surgery gripper

slide20

Surgical end-effectors 4 of 4

Warsaw University of Technology

Poland sewing effector

Daimler Benz

German forceps

slide21

2DoF

4DoF

4DoF

5DoF

5DoF

5DoF

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."

slide22

Index

robotic surgery

MEMS technologies

modules design

system integration

slide23

MEMS technologies 1/4

PIEZOELECTRIC EFFECT

Multilayer piezoelectric actuators

Ultrasonic motor

Inchworm piezoeletric motor

ELECTROSTATIC FORCE

Comb drive

Rotating comb drive

Wooble motor

slide24

MEMS technologies 2/4

MAGNETO AND ELECTRO-STRICTIVE FORCE

Electrostrictive actuators

Elastomeric dielectric actuators

Magnetostrictive actuators

MAGNETO- AND ELECTRO- RHEOLOGICAL EFFECT

SHAPE MEMORY ALLOYS

Actuators SMA

ELECTROMAGNETIC FIELD 1/2

Coreless DC motors

slide25

MEMS technologies 3/4

ELECTROMAGNETIC FIELD 2/2

Brushless DC motor

Micro linear motor

Stepper motor

Micro stepper motor

Solenoids

Voice coil motor

slide26

MEMS technologies 4/4

FLUID ACTUATION

Bourdon pipe

Artificial muscles

THERMAL EXPANSION

slide27

Index

state of art

MEMS technologies

modules design

system integration

slide28

Modules design

embodiment design

commercial components

detail design

control

Target 1

Improvement of arm dexterity

slide30

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 ?

slide31

Surgical articulated arm

Vladimir Filaretov Instrument design

In collaboration with:

Prof. Vladimir Filaretov of

Far Eastern State Technical University (Vladivostok)

slide32

Arm with clutches

TECHNICAL PROBLEM

• Clutches are delicate

• Precision machining is needed

slide33

Self powered forearm

TECHNICAL PROBLEM

• Motors limit the arms power

• Low dexterity

slide34

Universal joint forearm

TECHNICAL PROBLEM

• Precision machining is needed

slide35

Flexible joints forearm

TECHNICAL PROBLEM

• Disposition of the wires along the arm

slide37

Modules design

embodiment design

commercial components

detail design

control

slide38

Torque needed for sewing

Sewing torque

1,2 mNm

Actuation

Material

Transmission

Sensors

slide39

Piercing 0.5 N

Wire stretch 1 N

Clamp 40 N

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

slide40

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)

slide41

8 mm

F

F

Material selection

Actuation

Material

Transmission

Sensors

150 mm

slide42

Components selection

3300 €

550 €

5 €

8 €

4 €

18 €

Actuation Material Transmission Sensors

slide43

Modules design

embodiment design

commercial components

detail design

control

slide44

Index

Detail design

1 DOF modules

2 DOF modules

End effectors

Final solution

slide45

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

slide46

1DOF modules 2/5

TECHNICAL PROBLEM

• Multipole magnet offers low resolution

• Multipole magnet is costly

• The magnet is difficult to assemble

• Low torque

slide47

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

slide48

1DOF modules 4/5

TECHNICAL PROBLEM

• Optic wires along the arm

• This face gear is not machinable

• Low torque

slide50

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

slide51

1DOF modules: rotational 1/3

PROBLEM

• Difficult assembly

• Crown gear is not machinable

• Face gear is not machinable

• Low torque

slide52

1DOF modules: rotational 2/3

PROBLEM

• The magnetic gear is difficult to make

• The sensor is costly

• Low torque

slide54

1DOF modules family:

PROBLEM

• Difficult assembly

• Crown gear is not machinable (too small)

PROBLEM

• The magnetic gear is difficult to make

• Complex assembly

• The sensor is costly

• Low torque

PROBLEM

• The magnetic gear is difficult to make

• The sensor is costly

• Low torque

slide55

Index

Detail design

1 DOF modules

2 DOF modules

End effector

Final solution

slide56

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 ?

slide60

2DOF modules:

PROBLEM

• The face gears are difficult to find and to make.

• Conic gears give a solution mechanically not working

PROBLEM

• Too long

slide61

Index

Detail design

1 DOF modules

2 DOF modules

End effector

Final solution

slide62

Clamp 1/2

PROBLEM

• Too Long

slide63

Clamp 2/2

SMA

actuated clamp

slide64

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

slide65

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

slide66

Sewing instrument

TECHNICAL PROBLEM

• Wire tensioning during sewing

• Creation of knot

slide67

Index

Detail design

1 DOF modules

2 DOF modules

End effector

Final solution

slide72

Piercing 0.5 N

Wire stretch 1 N

Clamp 40 N

Final solution 4/4

A

B

slide73

Index

state of art

MEMS technologies

modules design

system integration

slide74

System integration

architecture selection

workspace

simulation

evaluation

Target 2

Selection of a robotic platform able to carry the arm

slide75

Reduce the size of the surgery platform

Arm carrier 1: industrial robot

PROBLEM

• production cost and weight

• the device is cumbersome

Patient

slide76

Minimise motors outside the patient

Arm carrier 2: miniature robot

Zemiti Nabil

PhD project

Patient

PROBLEM

• the device can exert limited force

• the instrument is delicate

slide77

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

slide78

Snail architecture

Device syntesis

Module length

Insertion problem

Optimal N of DOFs

Multiple solutions

slide80

System integration

architecture selection

kinematics

simulation

evaluation

Target 3

Analysis of the robot workspace and singularities

slide83

Denavit Hartemberg formulation

6 DOF arm

Redundant arm

slide85

Instrument singularities: screw theory

The mini-arm is a decoupled manipulator.

The configuration is singular if one of the following conditions is satisfied:

slide86

Instrument singularities: velocity transform matrix

Velocity transform matrix Tc

Determinant of Tc

Solutions

slide89

Instrument singularities: database query

1) Database creation by numerical analysis

2) Singularities workspace database query

slide90

System integration

architecture selection

workspace

simulation

evaluation

Target 4

Control of the redundant surgical robot

slide92

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

slide95

Arms cooperation

From 3 to 4 endoscopic arms are necessary to complete a minimally invasive surgery operation

slide96

System integration

architecture selection

workspace

simulation

evaluation

Target 5

Evaluation of the prototype performance

slide99

Prototypes: single module

Damien SallèGenetic arm optimisation Prototype design, assembly

slide101

Speed 72 °/s

Couple 5.8 mNm

Spam ± 104°

Torque measurement

79 g

slide102

2 DOF module

Damien SallèGenetic arm optimisation Prototype design, assembly

slide104

Gripper I performance

Clamping force

40 N

Damien SallèGenetic arm optimisation Prototype design, assembly

slide105

Gripper II overall view

Filippo MorraGripper design

slide106

Gripper II actuation

Jaw and spring

Filippo MorraGripper design

slide107

Vision

Sergio DapratiGripper design

slide108

Piercing 0.5 N

Wire stretch 1 N

Clamp 40 N

Arm prototype

Length 120 mm

N° of DoF5 (inside)

Weight 20 g

Damien SallèGenetic arm optimisation Prototype design, assembly

slide110

Surgery arm prototype performance

LRP Lab, Univ. of Paris 6

PMAR Lab, Univ. of Genoa

slide111

System integration

Silvia Frumento back-arm design

slide112

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