Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery
The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required f...
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doaj-1b9e69647218476f9e672481decf448a2021-02-02T00:05:30ZengMDPI AGRobotics2218-65812021-02-0110272710.3390/robotics10010027Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal SurgeryJacinto Colan0Jun Nakanishi1Tadayoshi Aoyama2Yasuhisa Hasegawa3Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, JapanDepartment of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya, Aichi 468-8502, JapanDepartment of Micro-Nano Mechanical Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, JapanDepartment of Micro-Nano Mechanical Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, JapanThe reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity, robot-assisted suturing is still highly challenging. In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure safe surgical instrument motion. The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints. The constrained motion planner is designed to reduce surrounding damages to the nasal cavity by setting a remote center of motion over the nostril. A dual concurrent inverse kinematics (IK) solver is proposed to achieve convergence of the solution and optimal time execution, in which two constrained IK methods are performed simultaneously; a task-priority based IK and a nonlinear optimization-based IK. We evaluate the performance of the proposed method in a stitching experiment with our surgical robotic system in a robot-assisted mode and an autonomous mode in comparison to the use of a conventional surgical tool. Our results demonstrate a noticeable improvement in the stitching success ratio in the robot-assisted mode and the shortest completion time for the autonomous mode. In addition, the force interaction with the tissue was highly reduced when using the robotic system.https://www.mdpi.com/2218-6581/10/1/27robot-assisted suturingoptimization-based trajectory generationremote center of motionendoscopic endonasal surgerystitching |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jacinto Colan Jun Nakanishi Tadayoshi Aoyama Yasuhisa Hasegawa |
spellingShingle |
Jacinto Colan Jun Nakanishi Tadayoshi Aoyama Yasuhisa Hasegawa Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery Robotics robot-assisted suturing optimization-based trajectory generation remote center of motion endoscopic endonasal surgery stitching |
author_facet |
Jacinto Colan Jun Nakanishi Tadayoshi Aoyama Yasuhisa Hasegawa |
author_sort |
Jacinto Colan |
title |
Optimization-Based Constrained Trajectory Generation
for Robot-Assisted Stitching in Endonasal Surgery |
title_short |
Optimization-Based Constrained Trajectory Generation
for Robot-Assisted Stitching in Endonasal Surgery |
title_full |
Optimization-Based Constrained Trajectory Generation
for Robot-Assisted Stitching in Endonasal Surgery |
title_fullStr |
Optimization-Based Constrained Trajectory Generation
for Robot-Assisted Stitching in Endonasal Surgery |
title_full_unstemmed |
Optimization-Based Constrained Trajectory Generation
for Robot-Assisted Stitching in Endonasal Surgery |
title_sort |
optimization-based constrained trajectory generation
for robot-assisted stitching in endonasal surgery |
publisher |
MDPI AG |
series |
Robotics |
issn |
2218-6581 |
publishDate |
2021-02-01 |
description |
The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity, robot-assisted suturing is still highly challenging. In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure safe surgical instrument motion. The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints. The constrained motion planner is designed to reduce surrounding damages to the nasal cavity by setting a remote center of motion over the nostril. A dual concurrent inverse kinematics (IK) solver is proposed to achieve convergence of the solution and optimal time execution, in which two constrained IK methods are performed simultaneously; a task-priority based IK and a nonlinear optimization-based IK. We evaluate the performance of the proposed method in a stitching experiment with our surgical robotic system in a robot-assisted mode and an autonomous mode in comparison to the use of a conventional surgical tool. Our results demonstrate a noticeable improvement in the stitching success ratio in the robot-assisted mode and the shortest completion time for the autonomous mode. In addition, the force interaction with the tissue was highly reduced when using the robotic system. |
topic |
robot-assisted suturing optimization-based trajectory generation remote center of motion endoscopic endonasal surgery stitching |
url |
https://www.mdpi.com/2218-6581/10/1/27 |
work_keys_str_mv |
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