Micro-telerobotic surgical system for microsurgery.
Modern surgical methods which utilize microscopes have allowed medical professionals to visualize the surgical field on the order of microns. This new found visual capacity has created a performance gap between a surgeon's visual skills and manipulative skills that surgical robotics have the capability to remedy. Robotics can be used as an aid to the surgeon to help correct natural human dexterity problems such as tremor and resolution of motion. Devices that would benefit surgical dexterity at the micron scale are in development at Sandia National Laboratories. A six degree-of-freedom (DOF) force reflecting telerobotic manipulator has been designed and developed for use in microsurgical applications. The system utilizes a unique mechanical platform, actuation schemes, and controller that provides high positional precision while maintaining high frequency response for implementation of force feedback. Thus, the same device is used to form a master-slave telerobotic arrangement to assist the surgeon. This makes the system very intuitive to the surgeon and easier to implement for the engineer. The system utilizes high performance Digital Signal Processors (DSP) for control of both the master and slave platforms. Six dimensional force information is obtained from transducers located at the end effectors of both the master and slave. Two distinctly different types of motors are currently being evaluated, as well as several types of control algorithms. Position scaling, force scaling, and tremor filtering are being implemented in the DSP control software. Control parameters are based upon system frequency response testing. Results from our system identification and performance testing will be discussed.