Prototype of a Surgical Robot with Contact Force Feedback

Misael Sánchez-Magos; Caridad Mireles-Pérez; Kenny Pérez; Francisco Medina; Mariana Ballesteros; David Cruz-Ortiz; Ivan Salgado; Isaac Chairez

doi:10.1007/978-3-030-30648-9_129

Prototype of a Surgical Robot with Contact Force Feedback

Misael Sánchez-Magos, Caridad Mireles-Pérez, Kenny Pérez, Francisco Medina, Mariana Ballesteros, David Cruz-Ortiz, Ivan Salgado, Isaac Chairez

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Surgical and medical robotics had become an interesting field of research joining disciplines such as biomedical engineering, mechatronics and automatic control. One of the main design issues of surgical robots is the interaction (contact force) between the end effector and the biological tissue. This manuscript presents the design, instrumentation and control of a surgical robot prototype (SRP) with two robotic arms of three degrees of freedom (DoF) attached to a cartesian robot, getting a total of five DoF per arm. The end effector consists of a robotic scalpel instrumented with force sensors to interact with the biological tissue resulting in more precise cuttings and avoiding, at the same time, damage of surrounding areas. An output-feedback proportional derivative hybrid controller is applied to track the trajectories aimed to realized precise cut. Simulations and experimental results show the performance of the SRP.

Original language	English
Title of host publication	8th Latin American Conference on Biomedical Engineering and 42nd National Conference on Biomedical Engineering - Proceedings of CLAIB-CNIB 2019
Editors	César A. González Díaz, Christian Chapa González, Eric Laciar Leber, Hugo A. Vélez, Norma P. Puente, Dora-Luz Flores, Adriano O. Andrade, Héctor A. Galván, Fabiola Martínez, Renato García, Citlalli J. Trujillo, Aldo R. Mejía
Publisher	Springer
Pages	993-1001
Number of pages	9
ISBN (Print)	9783030306472
DOIs	https://doi.org/10.1007/978-3-030-30648-9_129
State	Published - 2020
Event	8th Latin American Conference on Biomedical Engineering and the 42nd National Conference on Biomedical Engineering, CLAIB-CNIB 2019 - Cancún, Mexico Duration: 2 Oct 2019 → 5 Oct 2019

Publication series

Name	IFMBE Proceedings
Volume	75
ISSN (Print)	1680-0737
ISSN (Electronic)	1433-9277

Conference

Conference	8th Latin American Conference on Biomedical Engineering and the 42nd National Conference on Biomedical Engineering, CLAIB-CNIB 2019
Country/Territory	Mexico
City	Cancún
Period	2/10/19 → 5/10/19

Keywords

Hybrid control
Surgical robotics
Tissue-robot interaction

Access to Document

10.1007/978-3-030-30648-9_129

Cite this

Sánchez-Magos, M., Mireles-Pérez, C., Pérez, K., Medina, F., Ballesteros, M., Cruz-Ortiz, D., Salgado, I., & Chairez, I. (2020). Prototype of a Surgical Robot with Contact Force Feedback. In C. A. González Díaz, C. Chapa González, E. Laciar Leber, H. A. Vélez, N. P. Puente, D.-L. Flores, A. O. Andrade, H. A. Galván, F. Martínez, R. García, C. J. Trujillo, & A. R. Mejía (Eds.), 8th Latin American Conference on Biomedical Engineering and 42nd National Conference on Biomedical Engineering - Proceedings of CLAIB-CNIB 2019 (pp. 993-1001). (IFMBE Proceedings; Vol. 75). Springer. https://doi.org/10.1007/978-3-030-30648-9_129

Sánchez-Magos, Misael ; Mireles-Pérez, Caridad ; Pérez, Kenny et al. / Prototype of a Surgical Robot with Contact Force Feedback. 8th Latin American Conference on Biomedical Engineering and 42nd National Conference on Biomedical Engineering - Proceedings of CLAIB-CNIB 2019. editor / César A. González Díaz ; Christian Chapa González ; Eric Laciar Leber ; Hugo A. Vélez ; Norma P. Puente ; Dora-Luz Flores ; Adriano O. Andrade ; Héctor A. Galván ; Fabiola Martínez ; Renato García ; Citlalli J. Trujillo ; Aldo R. Mejía. Springer, 2020. pp. 993-1001 (IFMBE Proceedings).

@inproceedings{1a7eb4343a4e4459b7afc9767364ea8d,

title = "Prototype of a Surgical Robot with Contact Force Feedback",

abstract = "Surgical and medical robotics had become an interesting field of research joining disciplines such as biomedical engineering, mechatronics and automatic control. One of the main design issues of surgical robots is the interaction (contact force) between the end effector and the biological tissue. This manuscript presents the design, instrumentation and control of a surgical robot prototype (SRP) with two robotic arms of three degrees of freedom (DoF) attached to a cartesian robot, getting a total of five DoF per arm. The end effector consists of a robotic scalpel instrumented with force sensors to interact with the biological tissue resulting in more precise cuttings and avoiding, at the same time, damage of surrounding areas. An output-feedback proportional derivative hybrid controller is applied to track the trajectories aimed to realized precise cut. Simulations and experimental results show the performance of the SRP.",

keywords = "Hybrid control, Surgical robotics, Tissue-robot interaction",

author = "Misael S{\'a}nchez-Magos and Caridad Mireles-P{\'e}rez and Kenny P{\'e}rez and Francisco Medina and Mariana Ballesteros and David Cruz-Ortiz and Ivan Salgado and Isaac Chairez",

note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Switzerland AG.; 8th Latin American Conference on Biomedical Engineering and the 42nd National Conference on Biomedical Engineering, CLAIB-CNIB 2019 ; Conference date: 02-10-2019 Through 05-10-2019",

year = "2020",

doi = "10.1007/978-3-030-30648-9_129",

language = "Ingl{\'e}s",

isbn = "9783030306472",

series = "IFMBE Proceedings",

publisher = "Springer",

pages = "993--1001",

editor = "{Gonz{\'a}lez D{\'i}az}, {C{\'e}sar A.} and {Chapa Gonz{\'a}lez}, Christian and {Laciar Leber}, Eric and V{\'e}lez, {Hugo A.} and Puente, {Norma P.} and Dora-Luz Flores and Andrade, {Adriano O.} and Galv{\'a}n, {H{\'e}ctor A.} and Fabiola Mart{\'i}nez and Renato Garc{\'i}a and Trujillo, {Citlalli J.} and Mej{\'i}a, {Aldo R.}",

booktitle = "8th Latin American Conference on Biomedical Engineering and 42nd National Conference on Biomedical Engineering - Proceedings of CLAIB-CNIB 2019",

}

Sánchez-Magos, M, Mireles-Pérez, C, Pérez, K, Medina, F, Ballesteros, M , Cruz-Ortiz, D , Salgado, I & Chairez, I 2020, Prototype of a Surgical Robot with Contact Force Feedback. in CA González Díaz, C Chapa González, E Laciar Leber, HA Vélez, NP Puente, D-L Flores, AO Andrade, HA Galván, F Martínez, R García, CJ Trujillo & AR Mejía (eds), 8th Latin American Conference on Biomedical Engineering and 42nd National Conference on Biomedical Engineering - Proceedings of CLAIB-CNIB 2019. IFMBE Proceedings, vol. 75, Springer, pp. 993-1001, 8th Latin American Conference on Biomedical Engineering and the 42nd National Conference on Biomedical Engineering, CLAIB-CNIB 2019, Cancún, Mexico, 2/10/19. https://doi.org/10.1007/978-3-030-30648-9_129

Prototype of a Surgical Robot with Contact Force Feedback. / Sánchez-Magos, Misael; Mireles-Pérez, Caridad; Pérez, Kenny et al.
8th Latin American Conference on Biomedical Engineering and 42nd National Conference on Biomedical Engineering - Proceedings of CLAIB-CNIB 2019. ed. / César A. González Díaz; Christian Chapa González; Eric Laciar Leber; Hugo A. Vélez; Norma P. Puente; Dora-Luz Flores; Adriano O. Andrade; Héctor A. Galván; Fabiola Martínez; Renato García; Citlalli J. Trujillo; Aldo R. Mejía. Springer, 2020. p. 993-1001 (IFMBE Proceedings; Vol. 75).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Prototype of a Surgical Robot with Contact Force Feedback

AU - Sánchez-Magos, Misael

AU - Mireles-Pérez, Caridad

AU - Pérez, Kenny

AU - Medina, Francisco

AU - Ballesteros, Mariana

AU - Cruz-Ortiz, David

AU - Salgado, Ivan

AU - Chairez, Isaac

PY - 2020

Y1 - 2020

N2 - Surgical and medical robotics had become an interesting field of research joining disciplines such as biomedical engineering, mechatronics and automatic control. One of the main design issues of surgical robots is the interaction (contact force) between the end effector and the biological tissue. This manuscript presents the design, instrumentation and control of a surgical robot prototype (SRP) with two robotic arms of three degrees of freedom (DoF) attached to a cartesian robot, getting a total of five DoF per arm. The end effector consists of a robotic scalpel instrumented with force sensors to interact with the biological tissue resulting in more precise cuttings and avoiding, at the same time, damage of surrounding areas. An output-feedback proportional derivative hybrid controller is applied to track the trajectories aimed to realized precise cut. Simulations and experimental results show the performance of the SRP.

AB - Surgical and medical robotics had become an interesting field of research joining disciplines such as biomedical engineering, mechatronics and automatic control. One of the main design issues of surgical robots is the interaction (contact force) between the end effector and the biological tissue. This manuscript presents the design, instrumentation and control of a surgical robot prototype (SRP) with two robotic arms of three degrees of freedom (DoF) attached to a cartesian robot, getting a total of five DoF per arm. The end effector consists of a robotic scalpel instrumented with force sensors to interact with the biological tissue resulting in more precise cuttings and avoiding, at the same time, damage of surrounding areas. An output-feedback proportional derivative hybrid controller is applied to track the trajectories aimed to realized precise cut. Simulations and experimental results show the performance of the SRP.

KW - Hybrid control

KW - Surgical robotics

KW - Tissue-robot interaction

UR - http://www.scopus.com/inward/record.url?scp=85075645482&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-30648-9_129

DO - 10.1007/978-3-030-30648-9_129

M3 - Contribución a la conferencia

AN - SCOPUS:85075645482

SN - 9783030306472

T3 - IFMBE Proceedings

SP - 993

EP - 1001

BT - 8th Latin American Conference on Biomedical Engineering and 42nd National Conference on Biomedical Engineering - Proceedings of CLAIB-CNIB 2019

A2 - González Díaz, César A.

A2 - Chapa González, Christian

A2 - Laciar Leber, Eric

A2 - Vélez, Hugo A.

A2 - Puente, Norma P.

A2 - Flores, Dora-Luz

A2 - Andrade, Adriano O.

A2 - Galván, Héctor A.

A2 - Martínez, Fabiola

A2 - García, Renato

A2 - Trujillo, Citlalli J.

A2 - Mejía, Aldo R.

PB - Springer

T2 - 8th Latin American Conference on Biomedical Engineering and the 42nd National Conference on Biomedical Engineering, CLAIB-CNIB 2019

Y2 - 2 October 2019 through 5 October 2019

ER -

Sánchez-Magos M, Mireles-Pérez C, Pérez K, Medina F, Ballesteros M , Cruz-Ortiz D et al. Prototype of a Surgical Robot with Contact Force Feedback. In González Díaz CA, Chapa González C, Laciar Leber E, Vélez HA, Puente NP, Flores DL, Andrade AO, Galván HA, Martínez F, García R, Trujillo CJ, Mejía AR, editors, 8th Latin American Conference on Biomedical Engineering and 42nd National Conference on Biomedical Engineering - Proceedings of CLAIB-CNIB 2019. Springer. 2020. p. 993-1001. (IFMBE Proceedings). doi: 10.1007/978-3-030-30648-9_129

Prototype of a Surgical Robot with Contact Force Feedback

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this