Actuation And Teleoperation Of A Surgical Robot For Transurethral Procedures

Bladder cancer is the ninth most frequent cancer in the world with 165,000 deaths in2012.Scientists have developed various treatment methods for bladder cancer.Among the current treatments,the transurethral resection of bladder tumor（TURBT）surgical procedure is the most common and efficient method used.However,the currently available surgical instrumentation to perform this procedure has the drawback of being rigid with limited dexterity.Accordingly,a novel tool with improved dexterity should be developed.In this thesis,the design of a novel“Surgical Robot for Transurethral Procedures”is presented.Specifically,this thesis presents the actuation and teleoperation for the surgical robot system for transurethral procedures.The transurethral surgical robot described in this thesis consists of two continuum arms with outer diameter of?3 mm.The two arms can be inserted through a cystoscopy module with an outer diameter of?8 mm and the vision guidance system.The organization of this thesis is as follows.Chapter 1 surveys the background of the bladder cancer as well as the existing state-of-art surgical robotic systems for NOTES（Natural Orifice Transluminal Endoscopic Surgery）.In chapter 2,the overall design of the transurethral surgical robot system is explained.the structural design of the continuum robot arms,the lockable stand,vision module and control infrastructures are demonstrated.In chapter 3,the kinematic model of the single continuum segment and multi-segment are derived based on the definition of several Cartesian coordinate systems.Additionally,the inverse kinematics of the surgical robot system is demonstrated using a resolved rate algorithm which provides a solution to control robots in task space.In chapter 4,the implementation and actuation of the surgical robot is explained,which for the surgical robot,it is a kind of tele-operation system that consists of a master haptic device and slave robot system.For the master haptic device,two PHANToM Omni are used to input the orientation and position commands.For the slave robot system,the control system uses a real-time operation system（FreeRTOS）and a Hercules^TM Cortex-R5 hardware platform as a microcontroller infrastructure.Based on the real-time control infrastructure,the movement of the surgical robot arm can be controlled in real-time and safely in either task space or joint space.In chapter5,in order to achieve high control accuracy,the actuation compensation for the continuum manipulators,including the compensation model,experimental setup,compensation method and results is demonstrated.In addition,a tele-operation experiment was conducted to verify the full functionality of the surgical robot for transurethral procedures.Finally,the conclusions drawn from this study are presented in chapter 6 along with the bibliography.