Details
| Original language | English |
|---|---|
| Pages (from-to) | 1763-1773 |
| Number of pages | 11 |
| Journal | International journal of computer assisted radiology and surgery |
| Volume | 12 |
| Issue number | 10 |
| Publication status | Published - 12 Jul 2017 |
Abstract
Purpose: Assistance of robotic systems in the operating room promises higher accuracy and, hence, demanding surgical interventions become realisable (e.g. the direct cochlear access). Additionally, an intuitive user interface is crucial for the use of robots in surgery. Torque sensors in the joints can be employed for intuitive interaction concepts. Regarding the accuracy, they lead to a lower structural stiffness and, thus, to an additional error source. The aim of this contribution is to examine, if an accuracy needed for demanding interventions can be achieved by such a system or not. Methods: Feasible accuracy results of the robot-assisted process depend on each work-flow step. This work focuses on the determination of the tool coordinate frame. A method for drill axis definition is implemented and analysed. Furthermore, a concept of admittance feed control is developed. This allows the user to control feeding along the planned path by applying a force to the robots structure. The accuracy is researched by drilling experiments with a PMMA phantom and artificial bone blocks. Results: The described drill axis estimation process results in a high angular repeatability (0.026∘±16∘). In the first set of drilling results, an accuracy of (50±20μm) at entrance and (170±50μm) at target point excluding imaging was achieved. With admittance feed control an accuracy of (250±90μm) at target point was realised. In a third set twelve holes were drilled in artificial temporal bone phantoms including imaging. In this set-up an error of (20±15μm) and (165±80μm) was achieved. Conclusion: The results of conducted experiments show that accuracy requirements for demanding procedures such as the direct cochlear access can be fulfilled with compliant systems. Furthermore, it was shown that with the presented admittance feed control an accuracy of less then 1mm is achievable.
Keywords
- Active constraints, Direct cochlear access, Image guided surgery, Visual servoing
ASJC Scopus subject areas
- Medicine(all)
- Surgery
- Engineering(all)
- Biomedical Engineering
- Medicine(all)
- Radiology Nuclear Medicine and imaging
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Medicine(all)
- Health Informatics
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
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In: International journal of computer assisted radiology and surgery, Vol. 12, No. 10, 12.07.2017, p. 1763-1773.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - High-accuracy drilling with an image guided light weight robot
T2 - autonomous versus intuitive feed control
AU - Tauscher, Sebastian
AU - Fuchs, Alexander
AU - Baier, Fabian
AU - Kahrs, Lüder A.
AU - Ortmaier, Tobias
PY - 2017/7/12
Y1 - 2017/7/12
N2 - Purpose: Assistance of robotic systems in the operating room promises higher accuracy and, hence, demanding surgical interventions become realisable (e.g. the direct cochlear access). Additionally, an intuitive user interface is crucial for the use of robots in surgery. Torque sensors in the joints can be employed for intuitive interaction concepts. Regarding the accuracy, they lead to a lower structural stiffness and, thus, to an additional error source. The aim of this contribution is to examine, if an accuracy needed for demanding interventions can be achieved by such a system or not. Methods: Feasible accuracy results of the robot-assisted process depend on each work-flow step. This work focuses on the determination of the tool coordinate frame. A method for drill axis definition is implemented and analysed. Furthermore, a concept of admittance feed control is developed. This allows the user to control feeding along the planned path by applying a force to the robots structure. The accuracy is researched by drilling experiments with a PMMA phantom and artificial bone blocks. Results: The described drill axis estimation process results in a high angular repeatability (0.026∘±16∘). In the first set of drilling results, an accuracy of (50±20μm) at entrance and (170±50μm) at target point excluding imaging was achieved. With admittance feed control an accuracy of (250±90μm) at target point was realised. In a third set twelve holes were drilled in artificial temporal bone phantoms including imaging. In this set-up an error of (20±15μm) and (165±80μm) was achieved. Conclusion: The results of conducted experiments show that accuracy requirements for demanding procedures such as the direct cochlear access can be fulfilled with compliant systems. Furthermore, it was shown that with the presented admittance feed control an accuracy of less then 1mm is achievable.
AB - Purpose: Assistance of robotic systems in the operating room promises higher accuracy and, hence, demanding surgical interventions become realisable (e.g. the direct cochlear access). Additionally, an intuitive user interface is crucial for the use of robots in surgery. Torque sensors in the joints can be employed for intuitive interaction concepts. Regarding the accuracy, they lead to a lower structural stiffness and, thus, to an additional error source. The aim of this contribution is to examine, if an accuracy needed for demanding interventions can be achieved by such a system or not. Methods: Feasible accuracy results of the robot-assisted process depend on each work-flow step. This work focuses on the determination of the tool coordinate frame. A method for drill axis definition is implemented and analysed. Furthermore, a concept of admittance feed control is developed. This allows the user to control feeding along the planned path by applying a force to the robots structure. The accuracy is researched by drilling experiments with a PMMA phantom and artificial bone blocks. Results: The described drill axis estimation process results in a high angular repeatability (0.026∘±16∘). In the first set of drilling results, an accuracy of (50±20μm) at entrance and (170±50μm) at target point excluding imaging was achieved. With admittance feed control an accuracy of (250±90μm) at target point was realised. In a third set twelve holes were drilled in artificial temporal bone phantoms including imaging. In this set-up an error of (20±15μm) and (165±80μm) was achieved. Conclusion: The results of conducted experiments show that accuracy requirements for demanding procedures such as the direct cochlear access can be fulfilled with compliant systems. Furthermore, it was shown that with the presented admittance feed control an accuracy of less then 1mm is achievable.
KW - Active constraints
KW - Direct cochlear access
KW - Image guided surgery
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=85023755210&partnerID=8YFLogxK
U2 - 10.1007/s11548-017-1638-x
DO - 10.1007/s11548-017-1638-x
M3 - Article
C2 - 28707211
AN - SCOPUS:85023755210
VL - 12
SP - 1763
EP - 1773
JO - International journal of computer assisted radiology and surgery
JF - International journal of computer assisted radiology and surgery
SN - 1861-6410
IS - 10
ER -