Compact modular teleoperated laparoendoscopic single-site robotic surgical system : design, development, and preliminary validation

Isaac-Lowry, Oran Jacob

Compact modular teleoperated laparoendoscopic single-site robotic surgical system : design, development, and preliminary validation

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Isaac-Lowry_Oran_r.pdf (3.59 MB)

Isaac-Lowry_Oran_uh.pdf (4.06 MB)

Date

2014-05

Authors

Isaac-Lowry, Oran Jacob

Publisher

[Honolulu] : [University of Hawaii at Manoa], [May 2014]

Abstract

Minimally invasive surgery (MIS) has increasingly supplanted traditional open surgery as the preferred technique for a wide variety of common medical procedures due to vast reductions in patient scarring, trauma, and recovery time. Traditional MIS is performed by passing multiple instruments and an endoscope through several keyhole incisions in the patient body. The emerging MIS technique of single-port laparoscopy seeks to further reduce visible patient scarring by reducing the number of required operative incisions from three to one. The primary limitation in performing single-port laparoscopy is the physical burden imposed on the surgical team by passing multiple instruments and an endoscope through a single incision in close physical proximity. The spatial and dexterous challenges associated with single-port laparoscopy make the procedure an ideal candidate for robotic assistance. To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However larger systems are bulky, expensive, and afford limited angular motion while smaller designs suffer complications arising from limited translation, speed, and force generation. The research presented in this thesis seeks to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system. A successful design would potentially further shrink the gap in rates of positive patient outcomes between groups of surgeons by providing more surgeons better access to the benefits of robotically assisted surgical procedures. The system presented in this thesis builds upon previous work done at the University of Hawaiʻi at Mānoa and includes independently operated instrument and endoscope manipulators with a shared base structure as well as compact, articulated instruments designed to overcome single incision geometry complications. Results indicate the system has successfully met the goals associated with minimizing physical size, improving modularity, and increasing the compactness and simplicity of the system. The use of 3D printed components and structures offers exciting new opportunities to reduce cost, simplify hardware design, and provides an effective pathway towards accessible, cost-effective robotic surgical systems. Although additional control design work is required to achieve full parity with both the previous University of Hawaiʻi multi-port system and existing commercial systems the performance of the presented system is sufficient to successfully complete standard Society of American Gastrointestinal and Endoscopic Surgeons Fundamentals of Laparoscopic Surgery (SAGES FLS) peg transfer tasks. Future work includes developing simulation environments to explore new control strategies that may improve the responsiveness of the system, the intuitiveness of the control, and potentially reintroduce degrees of freedom (DOF's) compromised through the physical constraints of single-port minimally invasive instrument geometry. Meeting these design challenges will allow full validation of system performance and pave the way towards the next stages of pre-clinical development.

Description

M.S. University of Hawaii at Manoa 2014.
Includes bibliographical references.

Keywords

Robotics, robotic surgery, teleoperated robotic systems, single site surgery, 3D printed, component design

URI

http://hdl.handle.net/10125/100333

Related To

Theses for the degree of Master of Science (University of Hawaii at Manoa). Mechanical Engineering.

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M.S. - Mechanical Engineering

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