Technical Brief

Preliminary Articulable Probe Designs With RAVEN and Challenges: Image-Guided Robotic Surgery Multitool System

[+] Author and Article Information
W. Jong Yoon

Assistant Professor
e-mail: wjyoon@qu.edu.qa

Carlos A. Velasquez

e-mail: cvelasquezp@qu.edu.qa

Department of Mechanical and Industrial Engineering,
Qatar University,
PO Box 2713, Doha, Qatar

Lee W. White

School of Medicine,
Stanford University,
Stanford, CA 94305
e-mail: leewhite@stanford.edu

Blake Hannaford

Electrical Engineering Department,
University of Washington,
Seattle, WA 98195
e-mail: blake@ee.washington.edu

Yoon Sang Kim

School of Computer Science and Engineering,
Korea University of Technology and Education (KOREATECH),
Cheonan 330-708, Korea
e-mail: yoonsang@koreatech.ac.kr

Thomas S. Lendvay

Department of Urology,
University of Washington,
School of Medicine and Seattle Children's Hospital,
Seattle, WA 98105
e-mail: thomas.lendvay@seattlechildrens.org

1Corresponding author.

Manuscript received March 18, 2013; final manuscript received September 21, 2013; published online December 6, 2013. Assoc. Editor: Carl A. Nelson.

J. Med. Devices 8(1), 014505 (Dec 06, 2013) (6 pages) Paper No: MED-13-1122; doi: 10.1115/1.4025908 History: Received March 18, 2013; Revised September 21, 2013

The primary focus of the vision systems in current minimally invasive surgery (MIS) surgical systems has been on the improvement of immersive experience through a static approach. One of the current limitations in an MIS robotic surgery is the limited field of view and restricted perspective due to the use of a sole rigid 3D endoscope. We seek to integrate a modular articulable imaging device and the teleoperated surgical robot, RAVEN. Another additional flexible imager can be helpful in viewing occluded surgical targets, giving increased visualization options. Two probe designs are proposed and tested to evaluate a robotized steering mechanism within the MIS robot framework. Both designs, a separate flexible imager and a fixed camera on a tool tip, did not show much improvement in reducing task completion time. The new system may have some potential in improved precise manipulation of surgical tools, which may offer safety benefits once the surgeon is trained. We have demonstrated feasibility of a novel MIS instrument imaging device to aid in viewing potentially occluded surgical targets. A new concept, a modular axis-shared articulable imaging probe located at the vicinity of a tool tip, is proposed for future evaluation. Full integration of the new flexible imaging device into the grasper of the RAVEN surgical robot is under study coordinated with clinicians.

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Grahic Jump Location
Fig. 1

RAVEN, a surgical robot developed by the University of Washington, Seattle, WA

Grahic Jump Location
Fig. 2

(a) The compression spring model explains the relation between the position of two steering cables at the proximal end and the resultant deformation at the distal end. (b) Schematic and prototype of the flexible endoscope.

Grahic Jump Location
Fig. 3

Custom adaptor for flexible imaging probe and attachment for RAVEN robot arm

Grahic Jump Location
Fig. 4

Occluded block transfer testing environment (a) master side and (b) robot side, rear view

Grahic Jump Location
Fig. 5

Axis-shared block transfer task setup

Grahic Jump Location
Fig. 6

Schematic design of the integrated axis-shared flexible imaging scope on a RAVEN surgical robotic gripper. For clarity, the driving station for the right tool and the main imaging probe are not shown.

Grahic Jump Location
Fig. 7

A conceptual image compensation procedure for testing (left) original image before compensation, (center) image compensation by four steps, (right) image after compensation




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