A novel low cost robot for skill training in minimally invasive surgery

Xiaoli Zhang, Carl A. Nelson, Songpo Li, Rodney Ridley, Daniel B. Rukstalis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a novel simple robotic system is developed for surgical training in minimally invasive surgery (MIS). The robot automatically measures motion data of instruments in real time using internal encoders, without additional sensing mechanisms. Kinematics equations are integrated in the control software to map motor motion to the instrument tip motion. These recorded motion data then can be analyzed in the computer system for objective evaluation using well established criteria. A neural network algorithm is employed in real time as the observer of weight and inertia effects which are compensated through motor control. Experiment results show that this compact robot provides good stability and smooth motion while guiding instruments using surgeon input. The tracking resolution is sufficient for objective evaluation purposes. The robot combines the realistic feel of MIS instruments with the capability of the computer to tabulate objective measures of performance and skill. Its flexibility as a training instrument can be of great benefit in both providing surgeons with much-needed practice and assessing the outcomes of that practice.

Original languageEnglish (US)
Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Pages143-149
Number of pages7
EditionPARTS A AND B
DOIs
StatePublished - 2012
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
Duration: Aug 12 2012Aug 12 2012

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume4

Conference

ConferenceASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
CountryUnited States
CityChicago, IL
Period8/12/128/12/12

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Zhang, X., Nelson, C. A., Li, S., Ridley, R., & Rukstalis, D. B. (2012). A novel low cost robot for skill training in minimally invasive surgery. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 (PARTS A AND B ed., pp. 143-149). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 4, No. PARTS A AND B). https://doi.org/10.1115/DETC2012-71149