Raven-II: an open platform for surgical robotics research.

The Raven-II is a platform for collaborative research on advances in surgical robotics. Seven universities have begun research using this platform. The Raven-II system has two 3-DOF spherical positioning mechanisms capable of attaching interchangeable four DOF instruments. The Raven-II software is based on open standards such as Linux and ROS to maximally facilitate software development. The mechanism is robust enough for repeated experiments and animal surgery experiments, but is not engineered to sufficient safety standards for human use. Mechanisms in place for interaction among the user community and dissemination of results include an electronic forum, an online software SVN repository, and meetings and workshops at major robotics conferences.

A self-propelled inflatable earthworm-like endoscope actuated by single supply line.

Design of a self-propelling endoscope has been of interest for decades, as it allows for simplified medical examination techniques and improved patient comfort, together with advanced analysis capacity. In this paper, we describe the development of a fully automatic, multiple-balloon system achieving peristaltic locomotion, controlled by a single supply channel. The system employs the nonlinear pressure-radius characteristics of elastic balloons to simultaneously control numerous balloons with a constant inlet pressure. The balloons are connected in series and the flow is controlled by small orifices, which delay the flow between them. The proposed multiple-balloon system requires no moving parts, no electronics, and relies on dynamics of the fluid flow between serially interconnected inflatable balloons. The entire system is made of disposable silicone and is plastic-modeled by injection molding. Additionally, the cost of such a system is expected to be low and suitable for numerous biomedical applications as it can be easily scaled down due to the need for only one supply line. Mathematical modeling, and simulation and experimental results of a system prototype are presented in this paper. Experimental results in the straight cylinder show close correlation to simulated system.

Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine.

Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, focusing on the telesurgery application domain. Fourteen globally dispersed telerobotic master and slave systems were connected in thirty trials in one twenty four hour period. Users performed common manipulation tasks to demonstrate effective master-slave operation. With twenty eight (93%) successful, unique connections the results show a high potential for standardizing telerobotic operation. Furthermore, new paradigms for telesurgical operation and training are presented, including a networked surgery trainer and upper-limb exoskeleton control of micro-manipulators.

Flexible needle steering for percutaneous therapies.

OBJECTIVE: A robotic system is presented for flexible needle steering and control in soft tissue. MATERIALS AND METHODS: Flexible needle insertion into a deformable tissue is modeled as a linear beam supported by virtual springs, where the stiffness coefficients of the springs can vary along the needle. Using this simplified model, the forward and inverse kinematics of the needle are solved analytically, thus enabling both path planning and path correction in real time. Given target and obstacle locations, the computer calculates the needle tip trajectory that will avoid the obstacle and hit the target. Using the inverse kinematics algorithm, the corresponding needle base maneuver needed to follow this trajectory is calculated. RESULTS: It is demonstrated that the needle tip path is not unique and can be optimized to minimize lateral pressure of the needle body on the tissue. Needle steering, i.e., the needle base movements that steer the needle tip, is not intuitive. Therefore, the needle insertion procedure is best performed by a robot. The model was verified experimentally on muscle and liver tissues by robotically assisted insertion of a flexible spinal needle. During insertion, the position and shape of the needle were recorded by X-ray. CONCLUSIONS: This study demonstrates the ability to curve a flexible needle by its base motion in order to achieve a planned tip trajectory.