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Virtual wall-based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery

Title
Virtual wall-based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery
Authors
Seung, Sung MinChoi, Hong SeokJang, Jong SeongKim, Young SooPark, Jong OhPark, Suk HoKo, Seong Young
DGIST Authors
Park, Suk Ho
Issue Date
2017-01
Citation
Proceedings Of The Institution Of Mechanical Engineers Part H-Journal Of Engineering In Medicine, 231(1), 3-19
Type
Article
Article Type
Article
Keywords
FIXTURESNEUROSURGERY
ISSN
0954-4119
Abstract
This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall-based haptic guidance together with a medical image-guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall-based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator's trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% (p < 0.05). The experiments show that virtual wall-based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery. © Institution of Mechanical Engineers.
URI
http://hdl.handle.net/20.500.11750/5660
DOI
10.1177/0954411916676218
Publisher
SAGE PUBLICATIONS LTD
Related Researcher
  • Author Park, Suk Ho Multiscale Biomedical Robotics Laboratory
  • Research Interests Biomedical Micro/Nano Robotics; Biomedical Devices and Instruments
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringMultiscale Biomedical Robotics Laboratory1. Journal Articles


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