Dual-scale robotic solution for middle ear surgery

Jae Hun So; Brahim Tamadazte; Naresh Marturi; Jerome Szewczyk

doi:10.1109/ICRA46639.2022.9812365

Dual-scale robotic solution for middle ear surgery

Jae Hun So, Brahim Tamadazte, Naresh Marturi, Jerome Szewczyk^*

^*Corresponding author for this work

Metallurgy and Materials

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

1 Citation (Scopus)

Abstract

This paper deals with the control of a redundant robotic system for middle ear surgery (i.e., cholesteatoma tissues removal). The targeted robotic system is a macro-micro-scale robot composed of a redundant seven degrees of freedom (DoFs) on which is attached a two DoFs robotized flexible fiberscope. Two different control architectures are proposed to achieve a defined surgical procedure to remove the pathological tissue inside the middle ear cavity. The first proposed control mode is based on the position-based tele-operation of the entire system using a joystick (Phantom Omni) as a master arm. The second one combines comanipulation of the seven DoFs robotic arm using an embedded force/torque sensor and an end-frame tele-operation of the remaining two DoFs fiberscope using a lab-made in-hand joystick. Experimental validation is performed to evaluate and compare the performance of both developed control schemes. The obtained results using the lab-made platform and the proposed controllers are discussed.

Original language	English
Title of host publication	2022 International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1784-1790
Number of pages	7
ISBN (Electronic)	9781728196817
ISBN (Print)	9781728196824 (PoD)
DOIs	https://doi.org/10.1109/ICRA46639.2022.9812365
Publication status	Published - 12 Jul 2022
Event	39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, United States Duration: 23 May 2022 → 27 May 2022

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	IEEE
ISSN (Print)	1050-4729
ISSN (Electronic)	2577-087X

Conference

Conference	39th IEEE International Conference on Robotics and Automation, ICRA 2022
Country/Territory	United States
City	Philadelphia
Period	23/05/22 → 27/05/22

Bibliographical note

Funding Information:
This work has been supported by French ANR µRoCS Project no ANR-17-CE19-0005-04. 1 Sorbonne Université, CNRS UMR 7222, INSERM U1150, ISIR, F-75005, Paris, France. 2 Extreme Robotics Laboratory, University of Birmingham, Birmingham, U.K. [email protected].

Publisher Copyright:
© 2022 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA46639.2022.9812365

Cite this

So, J. H., Tamadazte, B., Marturi, N., & Szewczyk, J. (2022). Dual-scale robotic solution for middle ear surgery. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 1784-1790). (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA46639.2022.9812365

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abstract = "This paper deals with the control of a redundant robotic system for middle ear surgery (i.e., cholesteatoma tissues removal). The targeted robotic system is a macro-micro-scale robot composed of a redundant seven degrees of freedom (DoFs) on which is attached a two DoFs robotized flexible fiberscope. Two different control architectures are proposed to achieve a defined surgical procedure to remove the pathological tissue inside the middle ear cavity. The first proposed control mode is based on the position-based tele-operation of the entire system using a joystick (Phantom Omni) as a master arm. The second one combines comanipulation of the seven DoFs robotic arm using an embedded force/torque sensor and an end-frame tele-operation of the remaining two DoFs fiberscope using a lab-made in-hand joystick. Experimental validation is performed to evaluate and compare the performance of both developed control schemes. The obtained results using the lab-made platform and the proposed controllers are discussed.",

author = "So, {Jae Hun} and Brahim Tamadazte and Naresh Marturi and Jerome Szewczyk",

note = "Funding Information: This work has been supported by French ANR µRoCS Project no ANR-17-CE19-0005-04. 1 Sorbonne Universit{\'e}, CNRS UMR 7222, INSERM U1150, ISIR, F-75005, Paris, France. 2 Extreme Robotics Laboratory, University of Birmingham, Birmingham, U.K. [email protected]. Publisher Copyright: {\textcopyright} 2022 IEEE.; 39th IEEE International Conference on Robotics and Automation, ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022",

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So, JH, Tamadazte, B, Marturi, N & Szewczyk, J 2022, Dual-scale robotic solution for middle ear surgery. in 2022 International Conference on Robotics and Automation (ICRA). Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), pp. 1784-1790, 39th IEEE International Conference on Robotics and Automation, ICRA 2022, Philadelphia, United States, 23/05/22. https://doi.org/10.1109/ICRA46639.2022.9812365

Dual-scale robotic solution for middle ear surgery. / So, Jae Hun; Tamadazte, Brahim; Marturi, Naresh et al.
2022 International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers (IEEE), 2022. p. 1784-1790 (Proceedings - IEEE International Conference on Robotics and Automation).

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

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N1 - Funding Information: This work has been supported by French ANR µRoCS Project no ANR-17-CE19-0005-04. 1 Sorbonne Université, CNRS UMR 7222, INSERM U1150, ISIR, F-75005, Paris, France. 2 Extreme Robotics Laboratory, University of Birmingham, Birmingham, U.K. [email protected]. Publisher Copyright: © 2022 IEEE.

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N2 - This paper deals with the control of a redundant robotic system for middle ear surgery (i.e., cholesteatoma tissues removal). The targeted robotic system is a macro-micro-scale robot composed of a redundant seven degrees of freedom (DoFs) on which is attached a two DoFs robotized flexible fiberscope. Two different control architectures are proposed to achieve a defined surgical procedure to remove the pathological tissue inside the middle ear cavity. The first proposed control mode is based on the position-based tele-operation of the entire system using a joystick (Phantom Omni) as a master arm. The second one combines comanipulation of the seven DoFs robotic arm using an embedded force/torque sensor and an end-frame tele-operation of the remaining two DoFs fiberscope using a lab-made in-hand joystick. Experimental validation is performed to evaluate and compare the performance of both developed control schemes. The obtained results using the lab-made platform and the proposed controllers are discussed.

AB - This paper deals with the control of a redundant robotic system for middle ear surgery (i.e., cholesteatoma tissues removal). The targeted robotic system is a macro-micro-scale robot composed of a redundant seven degrees of freedom (DoFs) on which is attached a two DoFs robotized flexible fiberscope. Two different control architectures are proposed to achieve a defined surgical procedure to remove the pathological tissue inside the middle ear cavity. The first proposed control mode is based on the position-based tele-operation of the entire system using a joystick (Phantom Omni) as a master arm. The second one combines comanipulation of the seven DoFs robotic arm using an embedded force/torque sensor and an end-frame tele-operation of the remaining two DoFs fiberscope using a lab-made in-hand joystick. Experimental validation is performed to evaluate and compare the performance of both developed control schemes. The obtained results using the lab-made platform and the proposed controllers are discussed.

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PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 39th IEEE International Conference on Robotics and Automation, ICRA 2022

Y2 - 23 May 2022 through 27 May 2022

ER -

Dual-scale robotic solution for middle ear surgery

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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Cite this