COMPACT MODULAR TELEOPERATED LAPAROENDOSCOPIC SINGLE-SITE

ROBOTIC SURGICAL SYSTEM:

MS Defense

Jacob Isaac-Lowry

February 27, 2014

DESIGN, DEVELOPMENT, AND PRELIMINARY VALIDATION

Outline Research contribution

Key Metrics

Discussion of results

Future work

Summary

UH Single-Port System

Compact / Portable

Sufficient Performance

Low Production Cost

Modular

Key Metrics

Research Contribution:

Novel robot, overcomes existing limitations

Existing System Summary

• Limited translation

and speed

• Limited force

generation

External Manipulators In Vivo Systems

• Large / bulky

• Limited angular motion

Key Metrics

1. Compact / Portable

2. Sufficient Performance

3. Low Production Cost

4. Modular

Previous UH System

Multi-port system

Single-Port Concept

Previous Work

Complete System

[Picture]

Operating Volume • Measure of compactness

• Multi-system comparison

• Simple geometric representations

New UH Surgical Robot

Operating Volume Previous UH Surgical Robot

DaVinci Surgical Robot

Operating Volume

0.000

0.500

1.000

1.500

2.000

2.500

3.000

3.500

Current UH Previous UH RAVEN DaVinci

Cu

bic

Met

ers

Robotic Surgical Systems

Comparison of Surgical System Operating Volumes

91%

59% 53%

Instrument Size • Reduce collisions

• Increase range of motion

Instrument for Previous UH System

Instrument for Current UH System

Key Metrics

1. Compact / Portable

2. Sufficient Performance

3. Low Production Cost

4. Modular

Control Design Position Control

Tool-Tip Forward Kinematics

Tool-Tip Inverse Kinematics

Instrument Wrist Kinematics

Proportional velocity control

Velocity Control

Hybrid Control

Hardware

Architecture

USER

EEMIC(s) PC PC

Motor

Controller

Box(s)

Manipulator

Arm

Manipulator

Arm

Instrument Instrument

Robot

L R Phantom

Master Phantom

Master

Parallel Systems:

Master controllers

PC’s

Controllers

Robot/Instruments

Control Performance • Accuracy and repeatability

• Measured via optical tracking

Optical

Tracker

Reflector Constellation

Control Performance

• Benchmark

performance

• Shape tracing

exercise

Previous System

Control Performance

Controlled

test criteria

Single-Port System

Control Performance

Uncontrolled

test criteria

Single-Port System

Control Performance

Instrument-Scope-

Instrument contact

Limited starting position

Angled endoscope lens

Coupled joint motions

Key Factors Influencing Behavior

Surgical Task Trials • Standard SAGES FLS peg transfer task

• Multiple systems compared

Test procedure

Surgical Task Trials

Surgical Task Trials

0

5

10

15

20

25

30

35

40

45

RAVEN Multi-

port System

Previous UH

Multi-port

System

UH Single-port

System

DaVinci Multi-

port SystemInd

ivid

ua

l P

eg T

ran

sfer

Tim

e (s

)

Surgical Robotic Systems

Surgical System Peg Transfer Times

Test Failure Time

Discussion

Low Production Cost

Key Metric:

Discussion

Quick change

instrument

couplings

Replaceable

instrument tool tips

Modular

Key Metric:

Future Work

Mechanical System Refinement

Advance pre-clinic trials

Control System Refinement

Summary

Novel robot

Small size / Less cost

Sufficient performance

Achieved early

hardware goals

Further control

development needed

Conclusion Research

Contribution

Robot more accessible to surgical community

Acknowledgements

Advisor

Dr. Peter Berkelman

Funding Organizations

• NIH

• Intuitive Surgical, Inc

Lab Mates

• Sahba Pedram

• Steele Okamoto (2013)

Personal

• Sarah Alessi

Questions?