IJAT Vol.5 No.5 pp. 738-745
doi: 10.20965/ijat.2011.p0738


Comparison of Pose Correspondence Methods of Master-Slave Manipulators for Neurosurgical Robotic Systems

Tsubasa Yonemura*1, Yasuhide Kozuka*1, Young Min Baek*1, Naohiko Sugita*1, Akio Morita*2, Shigeo Sora*3, Ryo Mochizuki*4, Mamoru Mitsuishi*1

*1Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan

*2Kanto Medical Center NTT EC, 5-9-22 Higashi Gotanda, Shinagawa-ku, Tokyo, Japan

*3Tokyo Metropolitan Police Hospital, 4-22-1 Nakano, Nakano-ku, Tokyo, Japan

*4ASMITAS Technology Inc., 1-4-43 Kita-inter Kogyodanchi, Hachinohe, Aomori-ken, Japan

May 26, 2011
July 15, 2011
September 5, 2011
master-slave system, pose correspondence, inverse kinematics, microsurgery, surgical robot
Performing microsurgery in the field of neurosurgery is very challenging because neurosurgeons have to suture fine vessels by maneuvering long, thin surgical instruments inserted through a small hole in the skull. In order to assist neurosurgeons, a novel master-slave surgical robotic system has been developed. The objective of the surgical robotic system is to assist neurosurgeons in performing micro surgery in deep surgical fields by providing high dexterity. However, a method of correspondence between master and slave manipulators has not yet been studied, though this is strongly related to the operability and usability of robotic surgery. In this paper, we propose two pose correspondence methods for the master and slave manipulators, axis-based relative pose correspondence and vector-based absolute pose correspondence, and their usability and operability are verified by performing pointing and suturing tasks. The experimental results show that there is a trade-off between the two correspondence methods in terms of time, length of trajectory, and the singular point problem.
Cite this article as:
T. Yonemura, Y. Kozuka, Y. Baek, N. Sugita, A. Morita, S. Sora, R. Mochizuki, and M. Mitsuishi, “Comparison of Pose Correspondence Methods of Master-Slave Manipulators for Neurosurgical Robotic Systems,” Int. J. Automation Technol., Vol.5 No.5, pp. 738-745, 2011.
Data files:
  1. [1] K. C. Veluvolu and W. T. Ang, “Estimation and filtering of physiological tremor for real-time compensation in surgical robotics applications,” in Int. J. Med. Robotics Comput. Assist. Surg., pp. 334-342, 2010.
  2. [2] C. W. Burckhardt, P. Flury, and D. Glauser, “Stereotactic brain surgery,” IEEE Engineering in Medicine and Biology.
  3. [3] T. Goto, K. Hongo, Y. Kakizawa, H. Muraoka, Y. Miyairi, Y. Tanaka, and S. Kobayashi, “Clinical application of robotic telemanipulation system in neurosurgery,” J. of Neurosurgery, Vol.99, No.6, pp. 1082-1084, 2003.
  4. [4] G. R. Sutherland, P. B. McBeth, and D. F. Louw, “NeuroArm: An MR compatible robot for microsurgery,” Int. Congr. Series, Vol.1256, pp. 504-508, June 2003.
  5. [5] (M.D.) P. D. Le Roux, (Sc.D.) H. Das, (B.S.) S. Esquenazi, (M.D.) P. J. Kelly, “Robot-assisted Microsurgery: A Feasibility Study in the Rat,” Neurosurgery, Vol.48, No.3, pp. 584-589, March 2001.
  6. [6] S. Baba, D. Asai, S. Warisawa, M. Mitsuishi, A. Morita, S. Sora, R. Mochizuki, and T. Shiraishi, “Development of an Advanced Micro-neurosurgical,” in Proc. of 1st IEEE/RAS-EMBS BioRob, Italy, pp. 437-442, 2006.
  7. [7] A.Morita, S. Sora, M. Mitsuishi, S.Warisawa, K. Surman, D. Asai, J. Arata, S. Baba, H. Takahashi, R. Mochizuki, and T. Kirino, “Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric methods,” J. of Neurosurgery, Vol.103, pp. 320-327, 2005.
  8. [8] D. Asai, S. Katopo, J. Arata, S.Warisawa, M. Mitsuishi, A. Morita, S. Sora, T. Kirino, and R. Mochizuki, “Micro-neurosurgical system in the deep surgical field,” In Proc. of int. Conf. on Medical Image Computing and Computer-Assisted Intervention (MICCAI2004), Vol.3217, pp. 33-40, 2004.
  9. [9] N. Nathoo, M. Cavusoglu, M. Vogelbaum, and G. Barnett, “In touch with robotics: Neurosurgery for the future,” Neurosurgery, Vol.56, No.3, pp. 421-433, 2005.
  10. [10] P. McBeth, D. Louw, P. Rizun, and G. Sutherland, “Robotics in neurosurgery,” The American Journal of Surgery, Vol.188, pp. 68S-75S, 2004.
  11. [11] H. Takahashi, T. Yonemura, N. Sugita, M. Mitsuishi, S. Sora, A. Morita, and R. Mochizuki, “Master manipulator with higher operability designed for micro neuro surgical system,” in Proc. of IEEE Robotics and Automation, pp. 3902-3907, USA, May. 2008.
  12. [12] M. Mitsuishi, N. Sugita, S. Baba, H. Takahashi, A. Morita, S. Sora, and R. Mochizuki, “A Neurosurgical Robot for the Deep Surgical Field Characterized by an Offset-Type Forceps and Natural Input Capability,” In Proc. of the 39th ISR (Int. Symp. on Robotics), pp. 15∼17, Oct. 2008.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 12, 2024