Minimally invasive percutaneous surgery (MIPS) enables access to internal organs through needle punctures, providing reduced invasiveness and faster recovery compared to open surgery. While tele-operated robotic systems offer several advantages in MIPS, such as improved accuracy and reduced surgeon exposure to radiation, current approaches lack the ability to re-plan the needle path in real-time during surgery. This work introduces a novel tele-operated control strategy for robot-aided MIPS, aiming at improving patient safety, procedural efficiency, and system usability. The approach integrates a position control for access point re-planning and a parallel position/velocity control for needle advancement. Six participants tested the proposed control strategy using the KUKA LWR 4+ robotic arm to perform nephrolithotripsy on a synthetic anatomical model. The system demonstrated high needle alignment accuracy (maxDNA=0.006±0.003[rad]), smooth motion control (SM=0.13±0.08), and good usability, as reflected by a NASA-TLX workload score of 38.16±5.93.
A Tele-Operated Architecture Based on a Parallel Position/Velocity Control for Robot-Aided Percutaneous Surgery
Lauretti C.;Zollo L.
2025-01-01
Abstract
Minimally invasive percutaneous surgery (MIPS) enables access to internal organs through needle punctures, providing reduced invasiveness and faster recovery compared to open surgery. While tele-operated robotic systems offer several advantages in MIPS, such as improved accuracy and reduced surgeon exposure to radiation, current approaches lack the ability to re-plan the needle path in real-time during surgery. This work introduces a novel tele-operated control strategy for robot-aided MIPS, aiming at improving patient safety, procedural efficiency, and system usability. The approach integrates a position control for access point re-planning and a parallel position/velocity control for needle advancement. Six participants tested the proposed control strategy using the KUKA LWR 4+ robotic arm to perform nephrolithotripsy on a synthetic anatomical model. The system demonstrated high needle alignment accuracy (maxDNA=0.006±0.003[rad]), smooth motion control (SM=0.13±0.08), and good usability, as reflected by a NASA-TLX workload score of 38.16±5.93.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
