Вы находитесь на странице: 1из 20

Robotic Assisted Surgery

Using Haptic Technology


Under the guidance of Dr. Abinash K. Swain

Submitted by:-
Mukul Goyal (14117041)
Prabhanshu Rawat (14117046)
Sidharth Goel (14117071)
Motivation Behind

● Nowadays Robotic Assisted Minimally invasive surgery (RMIS) is used to


perform surgery on patient.
● Robotic arms perform the actual surgery.
● Current robotic systems don’t provide the haptic feedback to the surgeon.
● RMIS results in inability of surgeon to judge how much force is being applied
to tissue.
● The objective in providing force information to the operator is that he/she
feels that were actually present at the site.
Work Done So far

● Configuring haptic device for a simple shape


● Modeling abdomen 3D model
● Mapping force and stiffness parameter for the model
● Configuring haptic device for complex shapes
● Setting up callback responses for interactions
Open Haptics

● OpenHaptics toolkit is used to make programming simple by encapsulating


the basic steps common to all haptics/graphics applications.
● It consists of QuickHaptics micro API, Haptic Device API (HDAPI), Haptic
Library API (HLAPI).
● QuickHaptics is a micro API that makes it fast and easy to write new haptic
applications.
● Encapsulation is implemented in the C++ classes of the QuickHaptics micro
API.
Primary Classes of Quick Haptics

● Device Space
● QHRender
● Shape Class
● Cursor Class
Device Space

● It defines the force properties and user interaction in haptic workspace for
a particular Touch device. It manages -
○ Force Effects
○ User CallBacks
QH Render

● These are “windowing” classes created specifically for use with openGL
Utility Toolkit (GLUT).
● It renders shapes from camera viewpoint and lets the user feel those
shapes with a haptic device.
● OpenHaptics uses OpenGL to define geometry and to implement its haptic
rendering algorithms.
Shape Class

● The Shape class defines the base class for all of the geometry primitives
that can be included in the world space:
● Properties can be applied to any of these primitive.
● The default values for shape properties were selected to provide a realistic
and comfortable visualization of the property to human eyes.
Cursor Class

● The Cursor class defines the haptic interface point.


● It pulls together information from all of the other QuickHaptics micro API
classes.
○ Information from the DeviceSpace class because there can be more than one
haptic device, there can be more than one cursor.
○ World space information from the QHRenderer class.
○ Information from the Shape class about the objects with which the cursor will
interact and how the cursor should be represented on the screen.
Stomach as Spring Damper System

● The stomach is modeled as a point mass concentrated at the stomach COM


● When perturbed by small force, the stomach has been shown to behave like
a spring damper system.
● Intrinsic stiffness is determined by the mechanical properties of muscle-
tendon complex.
● Stiffness of the stomach musculature can be assessed globally by
quantifying the stiffness of the stomach itself.
Stomach as Spring Damper System

● Assuming this, the stiffness of the stomach is reverse-engineered by


measuring externally applied forces and the resulting stomach kinematics.
● Motion of this system is given by :

F = mẍ + bẋ + kx
where, F = applied force,
m = mass of the stomach,
x = linear displacement of the COM
ẋ = Velocity of the COM
ẍ = Acceleration of the COM
Video
Results (Force)
Results (Deformation)
Conclusion

● Force feedback is successfully received on a 3D model via haptic device.


● This can be further used for sensing interactive forces at the instrument tip
and recreating those forces against the surgeon’s hands.
● It makes robotic surgical systems more applicable in minimally invasive
procedures
● This system can also be used in medical student training
References

● Haptic feedback in robot-assisted minimally invasive surgery - A.M.


Okamura
● Haptics in robotic assisted surgery : Challenges and Benefits - Nima Enayati
● The role of haptics in Medical training Simulators - Timothy R Coles
● Haptic Interfaces and Devices - Vincent Hayward
● Multidirectional quantification of trunk stiffness and damping during
unloaded natural sitting-Albert H.Vette, KeiMasani, NoelWu
THANK YOU!

Вам также может понравиться