Hamlyn CRM: a compact master manipulator for surgical robot remote control

Dandan Zhang,Lin Zhang,Jindong Liu,Guang-Zhong Yang

doi:10.1007/s11548-019-02112-y

Abstract

PurposeCompact master manipulators have inherent advantages, since they can have practical deployment within the general surgical environments easily and bring benefits to surgical training. To assess the advantages of compact master manipulators for surgical skills training and the performance of general robot-assisted surgical tasks, Hamlyn Compact Robotic Master (Hamlyn CRM) is built up and evaluated in this paper.MethodsA compact structure for the master manipulator is proposed. A novel sensing system is designed while stable real-time motion tracking can be realized by fusing the information from multiple sensors. User studies were conducted based on a ring transfer task and a needle passing task to explore a suitable mapping strategy for the compact master manipulator to control a surgical robot remotely. The overall usability of the Hamlyn CRM is verified based on the da Vinci Research Kit (dVRK). The master manipulators of the dVRK control console are used as the referenceResultsMotion tracking experiments verified that the proposed system can track the operators’ hand motion precisely. As for the master–slave mapping strategy, user studies proved that the combination of the position relative mapping mode and the orientation absolute mapping mode is suitable for Robot-Assisted Minimally Invasive Surgery (RAMIS), while key parameters for mapping are selected.ConclusionResults indicated that the Hamlyn CRM can serve as a compact master manipulator for surgical training and has potential applications for RAMIS.

Highlights

A typical robotic surgery system consists of three major components: a master control console with interactive manipulators, a slave surgical robot with articulated instruments and a feedback system with vision and other sensing modalities
With accurate motion tracking techniques, the slave robot can exactly relay the commands from the operator to fulfill the surgical tasks with high efficiency, which serves as a fundamental part in a teleoperation system
We have developed a compact master manipulator, with detailed illustration of the structure design, the sensing system, the motion tracking framework and the selection of the master–slave mapping strategy

Summary

Introduction

A typical robotic surgery system consists of three major components: a master control console with interactive manipulators, a slave surgical robot with articulated instruments and a feedback system with vision and other sensing modalities. TMG is the homogeneous transform matrix of the master gripper coordinate to the master manipulator base frame M, which is formed by translation matrix PMG and rotation matrix RMG It can be obtained through forward kinematics based on the DH table of the Hamlyn CRM. The main target of the master–slave mapping determination is to find out the TSE for slave robot control, which is the homogeneous transform matrix of the slave robot end effector to frame S (the remote center of motion of the slave robot). It is comprised of the translation matrix PSE and the rotation matrix RSE. TGD is the homogeneous transform matrix of the display coordinate in the master control console and the gripper coordinate. δ and ∂ are defined as the angle between the z-axis of the world coordinate and the central line of the visual display and the endoscope, respectively

Participants

Conclusions

Findings

Compliance with ethical standards