Development of micro-tools for surgical applications

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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
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Index robotic surgery MEMS technologies
modules design system integration
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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
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Active catheters
Tohoku University
www.olympus.com
 
  Esashi catheter
Olympus catheters
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Endoscopes 1 of 4
Hirose Yoneda Robotics lab
 
State of art
Ikuta laboratory
 Endoscope tip
Hirose and Ikuta endoscopes
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Endoscopes 2 of 4
ARTS lab
Pisa arthroscope
 
Paris 6
LRP intestinal endoscope
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Endoscopes 3 of 4
Dr. Gründler
  Swiss endoscope
Pennsylvania State University
 
Stanford Research Institute
EPAM endoscopes
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Endoscopes 4 of 4
Imperial College of London
  Neuro-endoscopic operating instruments
Grenoble University
 
  Laparotomic endoscope
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Autonomous worms 1 of 3
ARTS lab
Katholieke Uneversiteit Leuven
 
  Leuven intestinal worm
Pisa intestinal worm
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Autonomous worms 2 of 3
Katholieke Uneversiteit Leuven
  Leuven intestinal worm arms
 
Korea worm
Korea Institute of Science and Technology
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Autonomous worms 3 of 3
  Korea impulsive worm
Korea Institute of Science and Technology
Korea centipede worm
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Navigating pills
www.rfnorika.com
 
  The Norika 3 pill
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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
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Robotic surgical systems
 
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Orthopaedic surgery
Israel Institute of Technology
NASA Jet Propulsion Lab
Eye surgery
 
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Laparo/thorax-tomic surgery
 
http//www.intuitivesurgical.com/
  The da Vinci surgery system
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Surgical end-effectors 1 of 4
  The ZEUS surgery tools
http//www.intuitivesurgical.com/
 
da Vinci surgery tools
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Surgical end-effectors 2 of 4
  da Vinci snake wrist
http//www.intuitivesurgical.com
Technical University of Lódz
 
Poland surgery gripper
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Surgical end-effectors 3 of 4
Michigan State University College of Engineering
  Michigan surgery gripper
German Aerospace Center, DLR
 
German surgery gripper
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Surgical end-effectors 4 of 4
Warsaw University of Technology
  Poland sewing effector
Daimler Benz
 
German forceps
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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."
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Index robotic surgery MEMS technologies
modules design system integration
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MEMS technologies 1/4
ELECTROSTATIC FORCE Comb drive Rotating comb
drive Wooble motor
PIEZOELECTRIC EFFECT Multilayer piezoelectric
actuators Ultrasonic motor Inchworm
piezoeletric motor
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MEMS technologies 2/4
SHAPE MEMORY ALLOYS Actuators SMA
ELECTROMAGNETIC FIELD 1/2 Coreless DC motors

MAGNETO AND ELECTRO-STRICTIVE FORCE Electrostricti
ve actuators Elastomeric dielectric actuators
Magnetostrictive actuators MAGNETO- AND
ELECTRO- RHEOLOGICAL EFFECT
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MEMS technologies 3/4
ELECTROMAGNETIC FIELD 2/2 Brushless DC motor
Micro linear motor Stepper motor
Micro stepper motor Solenoids Voice coil
motor
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MEMS technologies 4/4
FLUID ACTUATION Bourdon pipe   Artificial
muscles     THERMAL EXPANSION
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Index state of art MEMS technologies
modules design system integration
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Modules design embodiment design
commercial components detail design
control
Target 1
Improvement of arm dexterity
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Design process
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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
?
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Surgical articulated arm
Vladimir Filaretov Instrument design
In collaboration with Prof. Vladimir Filaretov
of Far Eastern State Technical University
(Vladivostok)
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Arm with clutches
TECHNICAL PROBLEM Clutches are delicate
Precision machining is needed
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Self powered forearm
TECHNICAL PROBLEM Motors limit the arms power
Low dexterity
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Universal joint forearm
TECHNICAL PROBLEM Precision machining is needed
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Flexible joints forearm
TECHNICAL PROBLEM Disposition of the wires
along the arm
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The forearms family
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Modules design embodiment design
commercial components detail design
control
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Torque needed for sewing
Sewing torque 1,2 mNm
Actuation Material Transmission Sensors
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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
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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)
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Material selection
Actuation Material Transmission Sensors
150 mm
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Components selection
Motors
90 transmission
90 transmission
Angular sensors
550
3300
5
8
4
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Actuation Material Transmission Sensors
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Modules design embodiment design
commercial components detail design
control
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Index
Detail design 1 DOF modules 2 DOF
modules End effectors Final solution
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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
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1DOF modules 2/5
TECHNICAL PROBLEM Multipole magnet offers low
resolution Multipole magnet is costly The
magnet is difficult to assemble Low torque
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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
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1DOF modules 4/5
TECHNICAL PROBLEM Optic wires along the arm
This face gear is not machinable Low torque
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1DOF modules 5/5
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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
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1DOF modules rotational 1/3
PROBLEM Difficult assembly Crown gear is not
machinable Face gear is not machinable Low
torque
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1DOF modules rotational 2/3
PROBLEM The magnetic gear is difficult to
make The sensor is costly Low torque
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1DOF modules rotational 3/3
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1DOF modules family
PROBLEM The magnetic gear is difficult to
make Complex assembly The sensor is costly
Low torque
PROBLEM Difficult assembly Crown gear is not
machinable (too small)
PROBLEM The magnetic gear is difficult to
make The sensor is costly Low torque
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Index
Detail design 1 DOF modules 2 DOF
modules End effector Final solution
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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 ?
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2DOF modules 2/4
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2DOF modules 3/4
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2DOF modules 4/4
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2DOF modules
PROBLEM The face gears are difficult to find
and to make. Conic gears give a solution
mechanically not working
PROBLEM Too long
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Index
Detail design 1 DOF modules 2 DOF
modules End effector Final solution
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Clamp 1/2
PROBLEM Too Long
ACTUATION Smoovy 5mm Harmonic drive 1500
OVERALL LENGTH 31,4 5,6 mm
POWER 58 N (optimistic)
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Clamp 2/2
SMA actuated clamp
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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
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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
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Sewing instrument
TECHNICAL PROBLEM Wire tensioning during
sewing Creation of knot
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Index
Detail design 1 DOF modules 2 DOF
modules End effector Final solution
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Modules selection
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Final solution 1/4
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Final solution 2/4
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Final solution 3/4
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Final solution 4/4
A
B
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Index state of art MEMS technologies
modules design system integration
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System integration architecture selection
workspace simulation evaluation
Target 2
Selection of a robotic platform able to carry the
arm
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Arm carrier 1 industrial robot
PROBLEM production cost and weight the device
is cumbersome
Patient
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Arm carrier 2 miniature robot
Zemiti Nabil PhD project
Patient
PROBLEM the device can exert limited force
the instrument is delicate
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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
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Snail architecture
Device syntesis
Module length
Insertion problem
Optimal N of DOFs
Multiple solutions
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Snail 3D view
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System integration architecture selection
kinematics simulation evaluation
Target 3
Analysis of the robot workspace and singularities
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Workspace, singularities and control
Forward kinematics Singularity analysis Backward kinematics Robot dynamics
Denavit Hartenberg --- Robot workspace --- Maple parametric algorithm Graphic method screw theory --- Analytic method Plücker coordinates Velocity transform matrix --- Maple parametric module Database graphical output Reduction to polynomial method --- Piepers method --- Numerical method Creation of C simulation environment (on ODE language) --- motion strategy

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Forward kinematics

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Denavit Hartemberg formulation
6 DOF arm
Redundant arm
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Instrument workspace Denavit Hartenberg
Forward kinematic
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Instrument singularities screw theory
The mini-arm is a decoupled manipulator. The
configuration is singular if one of the following
conditions is satisfied
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Instrument singularities velocity transform
matrix
Velocity transform matrix Tc
Determinant of Tc
Solutions
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Instrument singularities iso-orientation surfaces
Screw theory
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Instrument singularities overall view
Screw theory
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Instrument singularities database query
1) Database creation by numerical analysis 2)
Singularities workspace database query
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System integration architecture selection
workspace simulation evaluation
Target 4
Control of the redundant surgical robot
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Distributed control strategy
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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
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Path planning strategy
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Sensor fusion
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Arms cooperation
From 3 to 4 endoscopic arms are necessary to
complete a minimally invasive surgery operation
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System integration architecture selection
workspace simulation evaluation
Target 5
Evaluation of the prototype performance
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Proposed arm modules
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Selection of modules prototypes
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Prototypes single module
Damien Sallè Genetic arm optimisation
Prototype design, assembly
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Actuation detail
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Torque measurement
79 g
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2 DOF module
Damien Sallè Genetic arm optimisation
Prototype design, assembly
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Gripper I actuation
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Gripper I performance
Clamping force 40 N
Damien Sallè Genetic arm optimisation
Prototype design, assembly
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Gripper II overall view
Filippo Morra Gripper design
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Gripper II actuation
Jaw and spring
Filippo Morra Gripper design
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Vision
Sergio Daprati Gripper design
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Arm prototype
Length 120 mm N of DoF 5 (inside) Weight 20 g
Damien Sallè Genetic arm optimisation
Prototype design, assembly
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Snail joint detail
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Surgery arm prototype performance
LRP Lab, Univ. of Paris 6
PMAR Lab, Univ. of Genoa
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System integration
Silvia Frumento back-arm design
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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