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Semi-Autonomous Interventional Manipulation using Pneumatically Attachable Flexible Rails

D'Ettorre, C; Stilli, A; Dwyer, G; Neves, J; Tran, M; Stoyanov, D; (2020) Semi-Autonomous Interventional Manipulation using Pneumatically Attachable Flexible Rails. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 1347-1354). IEEE: Macau, China. Green open access

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Abstract

During laparoscopic surgery, tissues frequently need to be retracted and mobilized for manipulation or visualisation. State-of-the-art robotic platforms for minimally invasive surgery (MIS) typically rely on rigid tools to interact with soft tissues. Such tools offer a very narrow contact surface thus applying relatively large forces that can lead to tissue damage, posing a risk for the success of the procedure and ultimately for the patient. In this paper, we show how the use of Pneumatically Attachable Flexible (PAF) rail, a vacuum-based soft attachment for laparoscopic applications, can reduce such risk by offering a larger contact surface between the tool and the tissue. Ex vivo experiments are presented investigating the short- and longterm effects of different levels of vacuum pressure on the tissues surface. These experiments aim at evaluating the best tradeoff between applied pressure, potential damage, task duration and connection stability. A hybrid control system has been developed to perform and investigate the organ repositioning task using the proposed system. The task is only partially automated allowing the surgeon to be part of the control loop. A gradient-based planning algorithm is integrated with learning from teleoperation algorithm which allows the robot to improve the learned trajectory. The use of Similar Smooth Path Repositioning (SSPR) algorithm is proposed to improve a demonstrated trajectory based on a known cost function. The results obtained show that a smoother trajectory allows to decrease the minimum level of pressure needed to guarantee active suction during PAF positioning and placement.

Type: Proceedings paper
Title: Semi-Autonomous Interventional Manipulation using Pneumatically Attachable Flexible Rails
Event: IEEE/RSJ International Conference on Intelligent Robots and Systems
Location: Macau, China
Dates: 04 - 08 November 2019
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/IROS40897.2019.8967789
Publisher version: https://doi.org/10.1109/IROS40897.2019.8967789
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Surgical Biotechnology
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10078996
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