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Title:Enhancing safety in telerobotic surgery via haptic feedback
Author(s):Li, Xiao
Director of Research:Kesavadas, Thenkurussi
Doctoral Committee Chair(s):Ferreira, Placid
Doctoral Committee Member(s):Kalbarczyk, Zbigniew T.; Hovakimyan, Naira
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):surgical robot, robotic surgery, haptics, sensing
Abstract:Bilateral teleoperation with master/slave mechanism provides a means of transmitting the interactions between the slave robot and the environment to the master side by letting the user perceive the interaction force that generated by the actuators in the haptic device. In this dissertation, two frameworks for teleoperation of robotic manipulators with haptic force feedback through dynamic model-based approach and model-mediated approach integrating with non-contact sensing are presented. The obvious advantage of the two frameworks is eliminating the need for mounting force/torque sensors on the robotic manipulator. Firstly, a dynamic model-based approach is developed to monitor the robot states and use the error dynamics between the nominal robot state and the robot motor encoder measurement to generate haptic force feedback. And secondly, the idea of model-mediated telemanipulation is applied to develop a haptic rendering pipeline that providing tool-environment contact situation awareness as well as forcing the tool not to violate the interpenetration condition. In the field of robot-assisted minimally invasive surgery, the widely-used robotic system operated by the surgeon follows the master/slave architecture. On the master side, the surgeon operates on a motorized device which controls wristed instrument arm that goes inside the patient's body to perform surgical procedures. The end-effector of the instrument arm is equipped with different kinds of surgical tools, e.g., grasper, cutter, needle driver, suction irrigator, etc. The stereo vision streaming from the arm that equipped with the endoscope camera on the slave side is transmitted to the master's console in real time. Nowadays, surgeons still solely rely on visual feedback to perform surgical procedures. By investigating the adverse events reported to FDA MAUDE database and intending to expose the failure cases of the robotic system to the surgeons during the training phase, a fault injection engine is considered to reproduce the adverse events and use the first framework developed to let the surgeon obtain the instantaneous warning through haptic feedback. Human error can cause unexpected danger to the patient since the surgical robot has very limited autonomy feature and is totally under human control. The second framework aims at protecting the labeled region in the scene from contacting with the tool and providing stable haptic rendering. Experimental result data shows both of the frameworks improve the operational safety in the area of robotic surgery, and teleoperation in general.
Issue Date:2019-11-26
Type:Text
URI:http://hdl.handle.net/2142/106345
Rights Information:Copyright 2019 Xiao Li
Date Available in IDEALS:2020-03-02
Date Deposited:2019-12


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