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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： A. Pillarisetti M. Pekarev A.D. Brooks J.P. Desai Program of Robotics Intelligent Sensing Mechatronics (PRISM) Laboratory Drexel University Philadelphia PA USA

Conventional cell manipulation techniques do not have the ability to provide force feedback to an operator. Poor control of cell injection force is one of the primary reasons for low success rates in cell injection and transgenesis in particular. Therefore, there exists a need to incorporate force feedback into a cell injection system. We have developed an automated cell injection system, which has the capability of measuring forces in the range of μN. We tested our system with 40 human subjects to evaluate the role of force feedback in cell injection task. Our experimental results indicate that the subjects were able to feel the cell injection force and confirmed our research hypothesis that the use of combined vision and force feedback leads to higher success rate in cell injection task compared to using vision feedback alone.

关键词： Force feedback Automatic control Biological cells Genetics intelligent robots Force measurement Biological materials Embryo Cells (biology) Haptic interfaces

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Reality-based needle insertion simulation for haptic feedback in prostate brachytherapy

Reality-based needle insertion simulation for haptic feedbac...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.T. Hing A.D. Brooks J.P. Desai Program for Robotics Intelligent Sensing and Mechatronics (PRISM) Laboratory Drexel University Philadelphia PA USA Drexel University College of Medicine Philadelphia PA USA

There is a strong need to improve the tools clinicians use for training in procedures such as prostate brachytherapy where the success rate is directly related to the clinician's level of experience. Accurate haptic feedback is needed for developing improved surgical simulators and trainers for such procedures. In prostate brachytherapy, accurate needle placement of radioactive seeds in the prostate is crucial to the success of the surgery and to the quality of life of the patient. Therefore, a trainer or simulator for this and other types of needle insertion tasks require an accurate reality-based quantification and model of the needle and soft tissue interaction. To achieve this, we utilize the X-ray images produced by a dual C-arm fluoroscope setup during a needle insertion task to obtain parameters needed for accurate modeling of soft tissue and needle interactions. The needle and implanted markers in the tissue are tracked during the insertion and withdrawal of the needle at speeds of 1.016 mm/sec, 12.7 mm/sec and 25.4 mm/sec. Both image and force data are utilized to determine important parameters such as the local effective modulus during puncture and the approximate cutting force for soft tissue samples. A finite element model was built using the data to model needle puncture of tissue

关键词： Needles Haptic interfaces Feedback Brachytherapy Surgery Glands Biological tissues Medical treatment Medical simulation intelligent robots

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Direct and inverse problem models for large soft-tissue deformation: Application to haptic feedback in surgical simulation

Direct and inverse problem models for large soft-tissue defo...

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12th International Conference on Advanced robotics, 2005. ICAR '05

作者： Hu, Tie Desai, Jaydev P. Lau, Alan C. W. Program for Robotics Intelligent Sensing Mechatronics Laboratory Drexel University Philadelphia PA 19104

ISBN: (纸本)0780391772

Biomechanical model of soft tissue derived from experimental measurements is critical to develop a reality-based model for minimally invasive surgical training and simulation. We have focused on developing a biomechanical model of the liver with the ultimate goal of using this model for local tool-tissue interaction tasks and providing feedback to the surgeon through a haptic (sense of touch) display. It is of interest to develop a model of the soft tissue through probing experiments. An experimental apparatus was developed to perform both large probe compression test and the tissue probing test. The specimens were compressed to attain 30% nominal strain using a range of probing speeds (0.1016 mm/sec, 5.08 mm/sec, 12.70 mm/sec and 25.40 mm/sec). The compressive force-displacement curves were monotonic but highly nonlinear. Models consistent with experimental data were developed to characterize the deformation resistance of the soft tissue. Removing the assumption of incompressibility, an inverse-problem model can computationally determine the LEEM with axisymmetric finite element analysis. The sensitivity of LEEM on the tissue's compressibility (Poisson's ratio) was presented. Additionally, the variation of LEEM of pig liver with the probing speed was revealed. These results can be used to model soft-tissue deformation under varying probing speed by a surgical tool. © 2005 IEEE.

关键词： Biomedical engineering

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Direct and inverse problem models for large soft-tissue deformation: Application to haptic feedback in surgical simulation

Direct and inverse problem models for large soft-tissue defo...

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International Conference on Advanced robotics (ICAR)

作者： Tie Hu J.P. Desai A.C.W. Lau Program for Robotics Intelligent Sensing and Mechatronics Laboratory Drexel University Philadelphia PA USA

关键词： Inverse problems Deformable models Haptic interfaces Feedback Biological tissues Minimally invasive surgery Liver Testing Surges Displays

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Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis

Enabling Technologies for Robotically-Assisted Sutureless Co...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.W. Kennedy J.P. Desai Program for Robotics Intelligent Sensing and Mechatronics (PRISM) Laboratory Drexel University Philadelphia PA USA

Performing a fine manipulation task on a moving surface through a teleoperated robotic system presents significant challenges to the human operator. Addressing these challenges is particularly important in robotic surgical systems, where motion of the patient can result in surgical errors that degrade the quality of the surgery. The use of motion compensation by a robot manipulator to cancel the motion of the patient would represent a significant improvement over existing techniques. The purpose of this research is to evaluate the role of force-feedback in a motion-canceling teleoperation system. We have developed an experimental system in which the roles of motion-cancellation and teleoperation have been decoupled between separate robot manipulators. Our results lead us to the conclusion that force-feedback minimizes contact forces in motion-canceling teleoperation due to: 1) minimization of the collision forces due to the initial contact with the target surface, and 2) minimizing forces due to accidental contact generated by tracking errors by taking advantage of the naturally modulated impedance of the human hand during such tasks.

关键词： Surgery Manipulators Robot sensing systems robotics and automation Humans intelligent robots Heart Degradation Surface impedance Mechatronics

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Model-based control of the Mitsubishi PA-10 robot arm: application to robot-assisted surgery

Model-based control of the Mitsubishi PA-10 robot arm: appli...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.W. Kennedy J.P. Desai Program for Robotics Intelligent Sensing and Mechatronics (PRISM) Laboratory Drexel University Philadelphia PA USA

The purpose of this paper is to present our results in developing a dynamic model of the Mitsubishi PA-10 robot arm for the purpose of low velocity trajectory tracking using low feedback gains. The PA-10 is ideal for precise manipulation tasks due to the backdrivability, precise positioning capabilities, and zero backlash afforded by its harmonic drive transmission (HDT). However, the compliance and oscillations inherent in harmonic drive systems, and the lack of any technical information on the internal dynamics of the transmission, make the development of an accurate dynamic model of the robot extremely challenging. The novelty of this research is therefore the development of a systematic algorithm to extract the model parameters of a harmonic drive transmission in the robot arm to facilitate model-based control. We have modeled all 7 joints of the Mitsubishi PA-10, and we have done several experiments to identify the various parameters of the harmonic drive system. We conclude with a sample trajectory tracking task which demonstrates our model-based controller for the Mitsubishi PA-10 robot arm.

关键词： Surgery Trajectory Manipulator dynamics Robot sensing systems Associate members Data mining Force feedback Biological tissues Engineering profession Control nonlinearities

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Deformation resistance in soft tissue cutting: a parametric study

Deformation resistance in soft tissue cutting: a parametric ...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： T. Chanthasopeephan J.P. Desai A.C.W. Lau Program for Robotics Intelligent Sensing and Mechatronics (PRISM) Laboratory Drexel University Philadelphia PA USA

Characterizing and modeling of soft tissue deformation during cutting is important for developing a reality based haptic interaction model for surgical training and simulation. In this study, soft tissue cutting experiments were performed (ex-vivo) while monitoring the cutting forces and blade displacement for various cutting speeds (ranging from 0.1cm/sec-2.54cm/sec) and cutting angles (for 0/spl deg/ and 45/spl deg/ cutting angle). The measured force-displacement curves in all cases exhibit a characteristic pattern: repeating units formed by a segment of linear loading (deformation of tissue) and immediately followed by a segment of sudden unloading (localized crack extension in the tissue). This paper addresses the characterization of the deformation resistance during the deformation segment. The variation of this deformation resistance with cutting parameters is also determined. The deformation resistance to the cutting blade was quantified via a quantity designed as the local effective modulus (LEM) of the tissue. For a given cutting speed, the deformation resistance decreases as the cutting angle is varied from 0/spl deg/ to 45/spl deg/. For each cutting angle, the deformation resistance decreases with cutting speed. The variation of deformation resistance versus cutting speed is linear at 0/spl deg/ cutting angle and is nonlinear at 45/spl deg/ cutting angle.

关键词： Biological tissues Parametric study Deformable models Blades Haptic interfaces Surgery Monitoring Electrical resistance measurement Force measurement Goniometers

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Measuring grasping and cutting forces for reality-based haptic modeling

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International Congress Series 2003年第C期1256卷 794-800页

作者： Tholey, Gregory Chanthasopeephan, Teeranoot Hu, Tie Desai, Jaydev P. Lau, Alan Program for Robotics Intelligent Sensing Mechatronics (PRISM) Laboratory Drexel University Philadelphia PA 19104 3141 Chestnut Street MEM Department Room 2-115 United States

The modeling of grasping and cutting in surgery are two fundamental tasks that must be achieved for the development of a reality-based haptic interface in robot-assisted surgery. Currently, the lack of these models with soft tissue has limited the accuracy of such interfaces in surgery. As a result, we have taken the first steps in realizing soft tissue models through the development of an automated laparoscopic grasper and tissue cutting equipment to characterize grasping and cutting tasks in minimally invasive surgery (MIS). The grasper is capable of generating force feedback that can be felt through a haptic interface device thereby allowing a user to feel the stiffness of the tissue that is being grasped. The cutting equipment employs a surgical scalpel attached to a six-axis force/torque sensor to measure the forces during cutting. The scalpel follows a linear motion created by a DC motor and leadscrew assembly. © 2003, Elsevier Science B.V. and CARS. All rights reserved.

关键词： Minimally invasive surgery Robot-assisted surgery Surgical simulation

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Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm

Estimation and modeling of the harmonic drive transmission i...

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Proceedings 2003 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： C.W. Kennedy J.P. Desai Program for Robotics Intelligent Sensing and Mechatronics PRISM Laboratory MEM Department Drexel University Philadelphia PA USA

The purpose of this paper is to present our results in developing a dynamic model of the Mitsubishi PA-10 robot arm for the purpose of low velocity trajectory tracking using very low feedback gains. The novelty of this research is therefore the development of a systematic algorithm to extract the model parameters of a harmonic drive transmission in the robot arm to facilitate model-based control. We have chosen the elbow pitch joint (joint 4) of the PA-10 robot arm for estimation and modeling purposes. We have done several experiments to identify the various parameters of the harmonic drive system. We conclude with a sample trajectory tracking task whereby the feedback torque required to do trajectory tracking with and without the parameter identification of the HDT is significantly different.

关键词： Robot sensing systems intelligent robots Trajectory Service robots Communication system control Motion control Feedback Parameter estimation Manipulator dynamics Gears

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Combining haptic and visual servoing for cardiothoracic surgery

Combining haptic and visual servoing for cardiothoracic surg...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.W. Kennedy Tie Hu J.P. Desai Program for Robotics Intelligent Sensing and Mechatronics (PRISM) Laboratory MEM Department Drexel University Philadelphia PA USA

The primary goal of this research is to develop effective haptic and visual servoing methods, with the eventual goal of eliminating the need for mechanical stabilizers in a coronary artery bypass graft procedure by presenting a stationary operative site to the surgeon performing the procedure using haptic and visual feedback. We present the results from our initial work in the area of tracking a deformable membrane using vision and providing haptic feedback to the user based on the vision information and the material properties of the membrane. In our first experiment, we track the deformation of a rubber membrane in real-time through stereo vision while providing haptic feedback to the user interacting with the reconstructed membrane through the PHANToM haptic device. In the second experiment, we verify the ability of our vision system to track a point on a surface undergoing a complex 3D motion.

关键词： Haptic interfaces Visual servoing Cardiology Surgery Biomembranes Feedback Arteries Surges Material properties Rubber

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