Modelling and control of a water jet cutting probe for flexible surgical robot

Conference paper


Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. 2015. Modelling and control of a water jet cutting probe for flexible surgical robot. 2015 IEEE International Conference on Automation Science and Engineering (CASE). Gothenburg, Sweden 24 - 28 Aug 2015 IEEE. https://doi.org/10.1109/CoASE.2015.7294254
AuthorsMorad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R.
TypeConference paper
Abstract

Surgical removal of cancerous tissue from the spine is limited by the inability of hand held drills and cutting tools to reach small crevices present in complex bones such as the spinal column, especially on the anterior side. In addition, the high speed rotating mechanisms used presently are subject to stability issues when manoeuvring around tortuous bone forms. We report on the design and experimental testing of a novel flexible robotic surgical system which addresses these issues. The robot consists of a flexible probe, a water jet cutting system, and a haptic feedback controller. The water jet cutting system consists of a flexible end effector capable of bending around the anterior of the spinal column for tissue removal. A new experimental method of controlling the depth of water jet cut is described. The haptic feedback controller is based on a constraint set approach to define 3D boundaries, based on five key types of constraints. Experimental outcomes of measuring the depth of water jet cut were combined with haptic regional constraints with the aim of improving the safety of surgical procedures. The reliability, accuracy and performance of the prototype robot were tested in a mock surgical procedure on the lower lumbar vertebrae. Results show promise for the implementation of water jet cutting for robotic surgical spinal procedures.

Year2015
Conference2015 IEEE International Conference on Automation Science and Engineering (CASE)
PublisherIEEE
Accepted author manuscript
License
File Access Level
Anyone
Publication dates
Online08 Oct 2015
Publication process dates
Deposited07 Dec 2021
Journal citationpp. 1159-1164
ISSN2161-8089
Book title2015 IEEE International Conference on Automation Science and Engineering (CASE)
ISBN978-1-4673-8183-3
978-1-4673-8182-6
Digital Object Identifier (DOI)https://doi.org/10.1109/CoASE.2015.7294254
Copyright holder© 2015 IEEE
Copyright informationPersonal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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Accepted author manuscript
CASE15_0460_MS.pdf
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File access level: Anyone

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