A Portable Slave Robot for Robot-Assisted Minimally Invasive Surgery with Capability of Multi-Axis Force Sensing

Transcription

1 1 ABSTRACT A Portable Slave Robot for Robot-Assisted Minimally Invasive Surgery with Capability of Multi-Axis Force Sensing Dong-Hyuk Lee Department of Mechanical Engineering Sungkyunkwan University In this presentation, a slave robot for robot-assisted minimally Invasive surgery is introduced. The slave robot was developed mainly focusing on two objectives: sensorization and portability. The robot provides a capability of multi-axis force sensing including three-axis tissue-pulling force and singleaxis tissue-grasping force. The mechanism of the robot provides full-dexterity for tasks in minimally invasive surgery, and its size and weight (4.3 kg) enable the robot to be applied for tele-surgery in remote area such as battlefields. The developed sensorized slave robot was experimentally evaluated in a simulated surgical environment and its feasibility and applicability were verified.

2 Dong-Hyuk Lee Update: Apr. 7, 2015 Ph. D. Intelligent Robotics and Mechatronic Systems Lab. Department of Mechanical Engineering Sungkyunkwan University, Korea Office: Mobile: Education Sep Feb. 2015: Ph. D. in Mechanical Engineering, Majored in Applied Mechanics, Sungkyunkwan University, Suwon, Korea. Dissertation: Development of portable slave robot for robot-assisted minimally invasive surgery with capability of multi-axis force sensing. Advisor: Prof. Hyouk Ryeol Choi. Sep Aug. 2010: M. S. in Mechatronics Engineering, Sungkyunkwan University, Suwon, Korea. Dissertation: A study on autonomous navigation of in-pipe working robot based on landmark detection and pose sensor. Advisor: Prof. Hyouk Ryeol Choi. Mar Feb. 2008: B. S. in Mechanical Engineering, Sungkyunkwan University, Suwon, Korea. Dissertation: Development of low-pressure DMA (Differential Mobility Analyzer) controller using LabVIEW. Adviser: Prof. Taesung Kim. Research Interests Creative design and control of robotics system. Surgical robotics and medical devices. Force sensing and haptic display. Networking and system level software design.

3 Research Experience No. - Project Title Development of smart minimum invasive surgery tools with tactile sensing capabilities for telerobot surgery system A. Role within project Period of Participation Mar Present Support Organiztation Qatar National Research Fund (QNRF, Qatar) 1. Development of force sensing system for MIS slave robot. Development of miniature 3-axis force sensor. Development of miniature torque sensor. 2. Evaluation of developed sensing system using existing MIS system. Integration of the sensing system to Raven-II platform. Feasibility evaluation of the sensing system. 3. Development of portable slave robot with capability of multi-axis force sensing. Development of 7-DOF slave robot for MIS. Force feedback performance evaluation. B. Illustration of the developed system Fig axis miniature force sensor demonstration. Fig. 1.2 Raven-II platform with developed sensorized instrument. Fig. 1.3 Developed slave robot with capability of multi-axis force sensing.

4 No. - Project Title Development of micro artificial muscle acuator and force-torque sensor by using electro-active polymer A. Role within project Period of Participation Sep Sep May Apr Support Organiztation The Ministry of Knowledge Economy - Korea Institute for Advancement of Technology 1. Development of 6-axis force/torque sensor in size of 60 mm. Verification of a new sensing principle with dramatically reduced fabrication cost. Implementation of low-cost fabrication process. Application to a robotic hand. 2. Development of 6-axis force/torque sensor in size of 40 mm. Reducing the size of the force/torque sensor. Improvement of performance B. Illustration of the developed system Fig. 2.1 Developed 6-axis force torque sensor and its assembly process. Fig axis force/torque sensor demonstration.

5 No. - Project Title Robot Manipulation Technology Workforce Development Program using Smart Robot Hand A. Role within project Period of Participation Sep Feb Support Organiztation The Ministry of Knowledge Economy - Korea Institute for Advancement of Technology / KNR System. 1. Development of 6-axis force/torque sensor for fingertip Highly sensitive fingertip force/torque sensor. Study on low cost fabrication technique. Application to a robotic hand. B. Illustration of the research outcomes Fig. 3.1 Demonstration of developed 6-axis force-torque sensor for fingertip. Fig. 3.2 Fingertip force sensor integrated robot hand

6 No. Project Title Development of distributed - controller for vehicle and vehicle testing facilities A. Role within project Period of Participation Jul Oct Jul Jun Support Organiztation Gyeonggi Province 1. Development of an open-source communication middleware for the distributed computing. A portable, light-weight, hot-pluggable, and non-centralized communication layer Provide language independency. Open-source ( 2. Application to robotics research. Provide equivalent functionality with ROS (Robot Operating System) in communication level. Provide better functionality in massive parallel computing. B. Illustration of the developed system Fig. 4.1 Applicapability demonstration of developed communication layer (Using multi mobile phones as a single screen). Fig. 4.2 Application to mobile robot control.

7 No. - Project Title Development of Ingerated Inspection System for Sewer pipes. A. Role within project Period of Participation Mar May Support Organiztation The Ministry of Knowledge Economy Small and Medium Business Administration 1. Development of autonomous pipeline inspection robot. Development of robot control software based on realtime operating system. Control hardware design including SBC (Small Board Computer), motor controllers and CAN communication board. 2. Landmark recognition and autonomous navigation of the pipe inspection robot. Development of landmark recognition system based on rotating line-laser. Autonomous map building based on ARS (Attitude Reference System) and pose error correction technique. B. Illustration of the developed system Fig. 5.1 MRINSPECT-V, an autonomous pipe inspection robot Fig. 5.2 Landmark recognition field test.

8 No. - Project Title Development of window cleaning robot for high-rise buildings A. Role within project Period of Participation Aug Jan Support Organiztation Ministry of Information and Communication Electronics and Telecommunications Research Institute. 1. Design of window cleaning robot mechanism Mechanical design of walking type window cleaning robot Mechanical design of suspended type window cleaning robots. 2. Evaluation of the robot design using dynamic symulation Implementation of a virtual dynamic environment for the robot simulation. Assessment of each design in the virtual environment. B. Illustration of the research outcomes Fig. 6.2 Dynamic simulation: Suspended type-1 Fig. 6.1 Dynamic simulation: Walking type Fig. 6.3 Dynamic simulation: Suspended type-2

9 Publication Journal International 1. Dong-Hyuk Lee, Uikyum Kim, Tauseef Gulrez, Blake Hannaford and Hyouk Ryeol Choi, Development of Sensorized Instrument for Minimally Invasive Robotic Surgery, IEEE Transactions on Mechatronics, under review. 2. Dong-HyukLee, Uikyum Kim and Hyouk Ryeol Choi, Development of Capacitive Type Novel 6-Axis Force/Torque Sensor, IEEE Transactions on Mechatronics, under review. 3. Uikyum Kim, Dong-Hyuk Lee and Hyouk Ryeol Choi, Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery, IEEE Transactions on Robotics, under review. 4. Tauseef Gulrez, Woon J. Yoon, Dong-Hyuk Lee, Uikyum Kim, Hyouk Ryeol Choi and John-John Cabibihan, Tactile Feedback User Interface for Robot- Assisted Minimally Invasive Surgery, IEEE Transactions on Haptics, under review. 5. Dong-Hyuk Lee, Hyungpil Moon and Hyouk Ryeol Choi, Landmark Detection Methods for In-Pipe Robot Traveling in Urban Gas Pipelines, Robotica, doi: /S , Dong-Hyuk Lee, Hyungpil Moon, Ja Choon Koo and Hyouk Ryeol Choi, Map Building Method for Urban Gas Pipelines Based on Landmark Detection, International Journal of Control, Automation, and Systems, vol. 11, no. 1, pp , Canh Toan Nguyen, Hoa Phung, Tien Dat Nguyen, Choonghan Lee, Uikyum Kim, Dong-Hyuk Lee, Hyungpil Moon, Jachoon Koo, Jae-do Nam and Hyouk Ryeol Choi, A Small Biomimetic Quadruped Robot Driven by Multistacked Dielectric Elastomer Actuators, Smart Materials and Structures, vol. 23 no. 6 doi: / /23/6/065005, Tien Dat Nguyen, Canh Toan Nguyen, Dong-Hyuk Lee, Uikyum Kim, Choonghan Lee, Jae-do Nam, Hyouk Ryeol Choi, Highly Stretchable Dielectric Elastomer Material Based on Acrylonitrile Butadiene Rubber, Macromolecular Research, Accepted, Hyung Seok Lee, Hoa Phung, Dong-Hyuk Lee, Uikyum Kim, Canh Toan Nguyen, Hyungpil Moon, Ja Choon Koo, Jae-do Nam and Hyouk Ryeol Choi, Design Analysis and Fabrication of Arrayed Tactile Display Based on Dielectric Elastomer Actuator, Sensors and Actuators A: Physical, vol. 205, no. 1, pp , 2014.

10 Journal Domestic 1. Dong-Hyuk Lee, Hyungpil Moon, Se-gon Roh, Dal-Yeon Hwang, Won Pil Yu and Hyouk Ryeol Choi, Proposal of Moving Mechanism of Window Cleaning Robot, The Journal of Korea Robotics Society, vol. 5, no. 1, pp , Jung-Sub Lee, Dong-Hyuk Lee, Se-gon Roh, Hyungpil Moon and Hyouk Ryeol Choi, Internal Pipeline Exploration of an In pipe Robot Using the Shadow of Pipe Fittings, The Journal of Korea Robotics Society, vol. 5, no. 3, pp , Conference Proceedings International 1. Dong-Hyuk Lee, Uikyum Kim and Hyouk Ryeol Choi, Development of Multi- Axial Force Sensing System for Haptic Feedback Enabled Minimally Invasive Robotic Surgery, in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp , Dong-Hyuk Lee, Uikyum Kim, Hyungpil Moon, Ja Choon Koo, Woon Jong Yoon and Hyouk Ryeol Choi, Preliminary Design of Multi-Axial Contact Force Sensor for Minimally Invasive Robotic Surgery Grasper, in Proc. Int. Conf. on Robotics and Automation (ICRA), pp , Dong-Hyuk Lee, Hyungpil Moon, Ja Choon Koo and Hyouk Ryeol Choi, MATRIX: A Message Passing Interface for MPMD(Multiple Program Multiple Data) Applications on Heterogeneous Distributed Network, in Proc. Int. Conf. on Ubiquitous Robotics and Ambient Intelligence (URAI), pp , Dong-Hyuk Lee, Hyungpil Moon and Hyouk Ryeol Choi, Autonomous Navigation of In-pipe Working Robot in Unknown Pipeline Environment, in Proc. Int. Conf. on Robotics and Automation (ICRA), pp , Dong-Hyuk Lee, Hyungpil Moon and Hyouk Ryeol Choi, Landmark Detection of In-pipe Working Robot Using Line-Laser Beam Projection, in Proc. Int. Conf. Control, Automation and Systems (ICCAS), pp , Tien D. Nguyen, Junwoo Park, Choonghan Lee, Canh T. Nguyen, Dong-Hyuk Lee, Uikyum Kim, Hoa Phung, Jae-do Nam, Ja Choon Koo, Hyungpil Moon and Hyouk R. Choi, Highly Sensitive Proximity and Tactile Sensor Based on Composite with Dielectric Elastomer and Carbon Microcoils, SPIE Smart Structures and Materials, Electroactive Polymer Actuators and Devices (EAPAD), vol. 9056, pp C-90561C-9, 2014.

11 7. Uikyum Kim, Dong-Hyuk Lee, Hyungpil Moon, Ja Choon Koo and Hyouk Ryeol Choi, Design and Realization of Grasper-Integrated Force Sensor for Minimally Invasive Robotic Surgery, in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp , Uikyum Kim, Dong-Hyuk Lee, Baek-chul Kim,Choonghan Lee, Hyungpil Moon, Ja Choon Koo and Hyouk Ryeol Choi, Design of Dual Axial Force Sensor for Minimally Invasive Robotic Surgery Grasper, The 7th World Congress on Biomimetics Artificial Muscles and Nano-Bio (BAMN), pp. 82, Choonghan Lee, Dong-hyuk Lee, Canh Toan Nguyen, Uikyum Kim, Dat Tien Nguyen, Hyungpil Moon, Jachoon Koo, Jae-do Nam and Hyouk Ryeol Choi, Preliminary Design and Fabrication of Smart Handheld Surgical Tool with Tactile Feedback, IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN), pp , Daegyeong Kim, Choong Han Lee, Baek Chul Kim, Dong-Hyuk Lee, Hyung Suk Lee, Canh Toan Nguyen, Ui Kyum Kim, Tien Dat Nguyen, Hyungpil Moon, Ja Choon Koo, Jae-do Nam and Hyouk Ryeol Choi, Six-Axis Capacitive Force/Torque Sensor Based on Dielectric Elastomer, SPIE Smart Structures and Materials, Electroactive Polymer Actuators and Devices (EAPAD), vol. 8687, pp J 1-9, Hyung Seok Lee, Dong-Hyuk Lee, Dae Gyeong Kim, Ui Kyum Kim, Choong Han Lee, Nguyen Ngoc Linh, Nguyen Canh Toan, Ja Choon Koo, Hyungpil Moon, Jae-do Nam, Jeongheon Han and Hyouk Ryeol Choi, Tactile Display with Rigid Coupling, SPIE Smart Structures and Materials, Electroactive Polymer Actuators and Devices (EAPAD), vol. 8340, pp E 1-9, Canh Toan Nguyen, Hoa Phung, Ho Sang Jung, Uikyum Kim, Tien Dat Nguyen, Junwoo Park, Dong-Hyuk Lee, Hyungpil Moon, Ja Choon Koo and Hyouk Ryeol Choi, "Printable Monolitic Hexapod Robot Driven By Soft Actuator", IEEE Int. Conf. on Robotics and Automation (ICRA2015), accepted. Conference Proceedings Domestic 1. Junwoo Park, Dong-Hyuk Lee, Tien D. Nguyen, Hoa Phung, Choonghan Lee, Uikyum Kim, Ja Choon Koo, Hyungpil Moon, and Hyouk Ryeol Choi, A Study on Force and Tactile Sensing, in Proc. The 9th Korea Robotics Society Annual Conference, Baek-Chul Kim, Do-Yeon Hwang, Hanjung Jo, Sunggi Kim, Dong-Hyuk Lee, Nguyen Canh Toan, Hyouk Ryeol Choi, Hyungpil Moon and Ja Choon Koo, Performance Evaluation of Shielding Effect on the Capacitive Polymer Sensor,

12 in Proc. The Polymer Society of Korea Spring Meeting, Chang Ho Seo, Bum Joon Heo, Seung Gi Kim, Hyung Min Moon, Won Suk Yu, Dong-Hyuk Lee and Hyouk Ryeol Choi, Flotation Robot Platform Developemtn for Marine Environment Observation, in Proc. The 7th Korea Robotics Society Annual Conference, pp , Dong-Hyuk Lee, Kyeong Ho Cho, Hyungpil Moon and Hyouk Ryeol Choi, Development of Intuitive User-Interface of a Surveillance Mobile Robot Using Android Platform, in Proc. The Korea Society for Precision Engineering the Spring Annual Meeting, Jung-Sub Lee, Do Wan Kim, Dong-Hyuk Lee, Se-gon Roh, Hyungpil Moon and Hyouk Ryeol Choi, Sewer Deformation Assessment Method Based on PSD sensors for Sewer Inspection Robot, in Proc. the 4th Korea Robotics Society Annual Conference, pp , Awards 1. Dong-Hyuk Lee, Uikyum Kim and Hyouk Ryeol Choi, Participation Award: Developement of Capacitive Type Novel 6-Axis Force/Torque Sensor, Samsung Humantech Paper Award, Patents 2. Hyouk Ryeol Choi, Uikyum Kim, Dong-Hyuk Lee, Capacitive Type Multi-Axis Force/Torque Sensor, Applied for a patent in US in Hyouk Ryeol Choi, Ja Choon Koo, Hyungpil Moon, Dong-Hyuk Lee, Uikyum Kim, Multi-Axis Tactile Sensor, Accepted in Korea Patent Number Hyouk Ryeol Choi, Se-gon Roh, Hyungpil Moon, Junh-Sub Lee, Dong-Hyuk Lee, Long-range pipe inspection robot, Accepted in Korea Patent Number Hyouk Ryeol Choi, Hyungpil Moon, Junh-Sub Lee, Dong-Hyuk Lee, Propulsion System by using Electro-Active Polymer Actuator, Accepted in Korea Patent Number Hyouk Ryeol Choi, Hyungpil Moon, Dong-Hyuk Lee, Pipeline Inspection Mobile Robot, Accepted in Korea Patent Number Hyouk Ryeol Choi, Se-gon Roh, Hyungpil Moon, Dong-Hyuk Lee, Window

13 Cleaning Robot for Skyscraper, Accepted in Korea Patent (Awating for registration number) 8. Hyouk Ryeol Choi, Ja Choon Koo, Hyungpil Moon, Dong-Hyuk Lee, Uikyum Kim, Choonghan Lee, Planar Force/Torque Sensor, Submitted in Korea Patent Number Hyouk Ryeol Choi, Ja Choon Koo, Hyungpil Moon, Bak-Chul Kim, Dong-Hyuk Lee, Uikyum Kim, Choonghan Lee, Film Type Three-Axis Force Sensor, Submitted in Korea Patent Number Hyouk Ryeol Choi, Ja Choon Koo, Hyungpil Moon, Dong-Hyuk Lee, Uikyum Kim, Choonghan Lee, Tactile Display Actuator, Submitted in Korea Patent Number Hyouk Ryeol Choi, Dong-Hyuk Lee, Uikyum Kim, Surgical Forcep with Capability of Force Sensing, Submitted in Korea Patent Number Hyouk Ryeol Choi, Dong-Hyuk Lee, Uikyum Kim, Capacitive Type Three-Axis Force Sensor, Submitted in Korea Patent Number Hyouk Ryeol Choi, Dong-Hyuk Lee, Uikyum Kim, Capacitive Type Six-Axis Force/Torque Sensor, Submitted in Korea Patent Number Hyouk Ryeol Choi, Ja Choon Koo, Hyungpil Moon, Dong-Hyuk Lee, Uikyum Kim, Capacitive Type Torque Sensor, Submitted in Korea Patent Number Hyouk Ryeol Choi, Se-gon Roh, Hyungpil Moon, Junh-Sub Lee, Dong-Hyuk Lee, Apparatus for measuring deformation of sewer pipeline, Submitted in Korea Patent Number

14 Reference Available to Contact Prof. Hyouk Ryeol Choi (Supervisor Professor in graduate school) Ph.D., Chair of School of Mechanical Engineering, Sungkyunkwan University, 300 Cheoncheon-dong, Jangan-gu, Suwon, Gyeonggi-do, Phone: (+82) Mobile: (+82) Fax: (+82) Prof. Ja Choon Koo (Advisor Professor and Committee member for Ph.D. Thesis) Ph.D., School of Mechanical Engineering, Sungkyunkwan University, 300 Cheoncheon-dong, Jangan-gu, Suwon, Gyeonggi-do, Phone: (+82) Mobile: (+82) Fax: (+82) Prof. Hyungpil Moon (Advisor Professor and Committee member for Ph.D. Thesis) Ph.D., School of Mechanical Engineering, Sungkyunkwan University, 300 Cheoncheon-dong, Jangan-gu, Suwon, Gyeonggi-do, Phone: (+82) Mobile: (+82) Fax: (+82)