Portable surgery master station for mobile robotic telesurgery

ABSTRACT

We describe a system that provides a low-cost, portable control station for experimentation in mobile robotic telesurgery. The software and hardware implementation of our system are described in detail. The device mapping between the Haptic Interface Devices (HID) and the surgical robot that enable the surgeon to effectively teleoperate the surgical robot are explained along with our communication protocols for telesurgery. We have also provided our initial results from extensive field testing of our system in different hardware and software configurations and challenging locations. We focus on working under sub-optimal network conditions for field operation in remote environments, and the importance of interoperability and distribution among networked surgical technologies.

REFERENCES

• 1: G. Guthart and K. Salisbury, "The inituitive telesurgical system: Overview and application," in Proceedings of the 2000 IEEE ICRA, 2000, pp. 618--621.
• 2: A. Madhani, G. Niemeyer, and J. Salisbury, J. K., "The black falcon: A teleoperated surgical instrument for minimally invasive surgery," in Proceedings of the Intelligent Robots and Systems, vol. 2, 1998, pp. 936--944.
• 3: M. Cavusoglu, F. Tendick, M. Cohn, and S. Sastry, "A laparoscopic telesurgical workstation," IEEE Transactions on Robotics and Automation, vol. 15, no. 4, pp. 728--739, August 1999.
• 4: J. Marescaux, "Transatlantic robot-assisted telesurgery," Nature, vol. 413, Sept. 27.
• 5: J. Marescaux, J. Leroy, F. Rubino, M. Smith, M. Vix, M. Simone, and D. Mutter, "Transcontinental robot-assisted remote telesurgery: Feasibility and potential applications advances in surgical technique," Annals of Surgery, vol. 235, no. 4, April 2002.
• 6: M. Mitsuishi, J. Arata, K. Tanaka, M. M. amd T. Yoshidome, S. Iwata, M. Hashizume, and S. Warisawa, "Development of a remote minimally-invasive surgical system with operational environment transmission capability," in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, vol. 2, 2003, pp. 2663--2670.
• 7: J. Arata, H. Takahashi, P. Pitakwatchara, S. Warisawa, K. Konishi, K. Tanoue, S. Ieiri, S. Shimizu, N. Nakashima, K. Okamura, Y. S. Kim, S. M. Kim, J.-S. Hahm, M. Hashizume, and M. Mitsuishi, "A remote surgery experiment between japan-korea using the minimally invasive surgical system," in Robotics and Automation, 2003. Proceedings. ICRA '06. IEEE International Conference on, 2006, pp. 257--262.
• 8: M. Lum, J. Rosen, M. Sinanan, and B. Hannaford, "Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot." in Proc. IEEE International Conference on Robotics and Automation, New Orleans, LA, May 2004.
• 9: M. Lum, D. Trimble, J. Rosen, K. Fodero, H. King, G. Sankaranarayanan, J. Dosher, R. Leushke, B. Martin-Anderson, M. Sinanan, and B. Hannaford, "Multidisciplinary approach for developing a new minimally invasive surgical robot system," in Proceedings of the 2006 BioRob Conference, Pisa, Italy, Feb. 2006.
• 10: L. Stark, W. Kim, F. Tendick, B. Hannaford, S. Ellis, and et al., "Telerobotics; display, control, and communication problems," IEEE Journal of Robotics and Automation, vol. RA-3, pp. 67--74, 1987.
• 11: G. Sankaranarayanan, L. Potter, and B. Hannaford, "Measurement and emulation of time varying packet delay with applications to networked haptic virtual environments," in the proceedings of ROBOCOMM, the first International Conference on Robot Communication and Coordination, Athens, Greece, 2007.
• 12: K. Fodero, H. King, M. J. Lum, C. Bland, J. Rosen, M. Sinanan, and B. Hannaford, "Control system architecture for a minimally invasive surgical robot." in Proceedings of Medicine Meets Virtual Reality, Long Beach, CA, 2006, pp. 156--158.
• 13: M. Lum, D. Friedman, H. King, R. Donlin, G. Sankaranarayanan, T. J. Broderick, M. Sinanan, and J. R. Hannaford, "Telesurgery utilizing a portable surgical robot and an unmanned aerial vehicle via wireless and wired communication." in proceedings of Field and Service Robotics (FSR 2007), France, 2007.
• 14: J. Peters, G. Fried, L. Swanstrom, N. Soper, L. Sillin, B. Schirmer, K. Hoffman, and the SAGES FLS Committee, "Development and validation of a comprehensive program of education and assessment of the basic fundamentals of laparoscopic surgery," Surgery, vol. 135, 2003.
• 15: M. Lum, D. Friedman, G. Sankaranarayanan, H. King, T. Broderick, A. Wright, M. Sinanan, T. Lendway, J. Rosen, and B. Hannaford, "Objective assessment of tele surgical robot systems: Telerobotic fls." in review for the Medicine Meets Virtual Reality(MMVR16) 2008 conference.