Force-based flexible path plans for robotic electrode insertion

Jason Pile, George B. Wanna, Nabil Simaan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

Abstract

Rapidly deployable surgical robots pose minimal interruption to surgical workflow and require minimal setup time and equipment to support deployment. This paper explores the concept of rapid deployment through the use of in-vivo sensory information to adapt a pre-operative surgical plan and to increase robustness against registration and misalignment errors during robot deployment. Robotic insertion of cochlear implant electrode arrays is presented as a benchmark application demonstrating this concept. Two key ideas are presented within the context of this application: First, a hybrid position and admittance controller is used to define an insertion path plan that is modified based on in-vivo force measurements in order to reduce sensitivity to misalignment errors. Secondly, a new concept allowing the use of force cues to determine the onset of advance-off stylet electrode array insertion is presented. The new controller is tested with electrode insertions in both plastic models and human cadaveric specimens. The experiments show that insertion forces may be maintained or reduced compared to preplanned trajectories relying solely on the initial registration.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages297-303
Number of pages7
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - 22 Sep 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period31/05/147/06/14

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