title: Virtual wall-based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery.
abstract: This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall-based haptic guidance together with a medical image-guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall-based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator's trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% ( p < 0.05). The experiments show that virtual wall-based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.
authors.affiliation: 1 Department of Mechanical Engineering, Chonnam National University, Gwangju, Korea.
authors.forename: Sungmin
authors.initials: S
authors.lastname: Seung
authors.affiliation: 1 Department of Mechanical Engineering, Chonnam National University, Gwangju, Korea.
authors.forename: Hongseok
authors.initials: H
authors.lastname: Choi
authors.affiliation: 2 Institute of Innovative Surgical Technology, Hanyang University, Seoul, Korea.
authors.forename: Jongseong
authors.initials: J
authors.lastname: Jang
authors.affiliation: 3 Department of Neurosurgery, School of Medicine, Hanyang University, Seoul, Korea.
authors.forename: Young Soo
authors.initials: YS
authors.lastname: Kim
authors.affiliation: 1 Department of Mechanical Engineering, Chonnam National University, Gwangju, Korea.|4 Robot Research Initiative, Chonnam National University, Gwangju, Korea.
authors.forename: Jong-Oh
authors.initials: JO
authors.lastname: Park
authors.affiliation: 1 Department of Mechanical Engineering, Chonnam National University, Gwangju, Korea.|4 Robot Research Initiative, Chonnam National University, Gwangju, Korea.
authors.forename: Sukho
authors.initials: S
authors.lastname: Park
authors.affiliation: 1 Department of Mechanical Engineering, Chonnam National University, Gwangju, Korea.|4 Robot Research Initiative, Chonnam National University, Gwangju, Korea.
authors.forename: Seong Young
authors.initials: SY
authors.lastname: Ko
mesh_terms: D000465:Algorithms; D001698:Biomedical Engineering; D001932:Brain Neoplasms / Q000601:surgery*; D006801:Humans; D019635:Neurosurgical Procedures / Q000295:instrumentation; D019047:Phantoms, Imaging; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D014584:User-Computer Interface
keywords: Haptic guidance; brain tumor removal; single-port surgical robot; virtual wall