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A microsurgical robot research platform for robot-assisted microsurgery research and training
PURPOSE: Ocular surgery, ear, nose and throat surgery and neurosurgery are typical types of microsurgery. A versatile training platform can assist microsurgical skills development and accelerate the uptake of robot-assisted microsurgery (RAMS). However, the currently available platforms are mainly d...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer International Publishing
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6949326/ https://www.ncbi.nlm.nih.gov/pubmed/31605352 http://dx.doi.org/10.1007/s11548-019-02074-1 |
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author | Zhang, Dandan Chen, Junhong Li, Wei Bautista Salinas, Daniel Yang, Guang-Zhong |
author_facet | Zhang, Dandan Chen, Junhong Li, Wei Bautista Salinas, Daniel Yang, Guang-Zhong |
author_sort | Zhang, Dandan |
collection | PubMed |
description | PURPOSE: Ocular surgery, ear, nose and throat surgery and neurosurgery are typical types of microsurgery. A versatile training platform can assist microsurgical skills development and accelerate the uptake of robot-assisted microsurgery (RAMS). However, the currently available platforms are mainly designed for macro-scale minimally invasive surgery. There is a need to develop a dedicated microsurgical robot research platform for both research and clinical training. METHODS: A microsurgical robot research platform (MRRP) is introduced in this paper. The hardware system includes a slave robot with bimanual manipulators, two master controllers and a vision system. It is flexible to support multiple microsurgical tools. The software architecture is developed based on the robot operating system, which is extensible at high-level control. The selection of master–slave mapping strategy was explored, while comparisons were made between different interfaces. RESULTS: Experimental verification was conducted based on two microsurgical tasks for training evaluation, i.e. trajectory following and targeting. User study results indicated that the proposed hybrid interface is more effective than the traditional approach in terms of frequency of clutching, task completion time and ease of control. CONCLUSION: Results indicated that the MRRP can be utilized for microsurgical skills training, since motion kinematic data and vision data can provide objective means of verification and scoring. The proposed system can further be used for verifying high-level control algorithms and task automation for RAMS research. |
format | Online Article Text |
id | pubmed-6949326 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | Springer International Publishing |
record_format | MEDLINE/PubMed |
spelling | pubmed-69493262020-01-23 A microsurgical robot research platform for robot-assisted microsurgery research and training Zhang, Dandan Chen, Junhong Li, Wei Bautista Salinas, Daniel Yang, Guang-Zhong Int J Comput Assist Radiol Surg Original Article PURPOSE: Ocular surgery, ear, nose and throat surgery and neurosurgery are typical types of microsurgery. A versatile training platform can assist microsurgical skills development and accelerate the uptake of robot-assisted microsurgery (RAMS). However, the currently available platforms are mainly designed for macro-scale minimally invasive surgery. There is a need to develop a dedicated microsurgical robot research platform for both research and clinical training. METHODS: A microsurgical robot research platform (MRRP) is introduced in this paper. The hardware system includes a slave robot with bimanual manipulators, two master controllers and a vision system. It is flexible to support multiple microsurgical tools. The software architecture is developed based on the robot operating system, which is extensible at high-level control. The selection of master–slave mapping strategy was explored, while comparisons were made between different interfaces. RESULTS: Experimental verification was conducted based on two microsurgical tasks for training evaluation, i.e. trajectory following and targeting. User study results indicated that the proposed hybrid interface is more effective than the traditional approach in terms of frequency of clutching, task completion time and ease of control. CONCLUSION: Results indicated that the MRRP can be utilized for microsurgical skills training, since motion kinematic data and vision data can provide objective means of verification and scoring. The proposed system can further be used for verifying high-level control algorithms and task automation for RAMS research. Springer International Publishing 2019-10-11 2020 /pmc/articles/PMC6949326/ /pubmed/31605352 http://dx.doi.org/10.1007/s11548-019-02074-1 Text en © The Author(s) 2019 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
spellingShingle | Original Article Zhang, Dandan Chen, Junhong Li, Wei Bautista Salinas, Daniel Yang, Guang-Zhong A microsurgical robot research platform for robot-assisted microsurgery research and training |
title | A microsurgical robot research platform for robot-assisted microsurgery research and training |
title_full | A microsurgical robot research platform for robot-assisted microsurgery research and training |
title_fullStr | A microsurgical robot research platform for robot-assisted microsurgery research and training |
title_full_unstemmed | A microsurgical robot research platform for robot-assisted microsurgery research and training |
title_short | A microsurgical robot research platform for robot-assisted microsurgery research and training |
title_sort | microsurgical robot research platform for robot-assisted microsurgery research and training |
topic | Original Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6949326/ https://www.ncbi.nlm.nih.gov/pubmed/31605352 http://dx.doi.org/10.1007/s11548-019-02074-1 |
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