Politecnico di Milano e Veneranda Fabbrica prototype for the control - - PowerPoint PPT Presentation

Firma convenzione Politecnico di Milano e Veneranda Fabbrica del Duomo di Milano

Aula Magna – Rettorato Mercoledì 27 maggio 2015

Design and implementation of a robotic prototype for the control of a flexible ureteroscope

Academic Year 2017-2018

Author: Federico Nasi

Coordinator: Prof. Elena De Momi Advisor: Álvaro Gutiérrez Martín

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Clinical Problem

Urinary Lithiasis Current Clinical Solution Kidney Stones formation in the urinary tract fURS: Flexible ureteroscopy In Italy 3.78% of the female population 4.53% of the male population ✓ Less invasive ✓ Higher efficiency

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Flexible Ureteroscopy

Urinary Lithiasis Current Clinical Solution Kidney Stones formation in the urinary tract fURS: Flexible ureteroscopy

fURS

Control Lever Flexible cable Handle

• Laser fibre
• Light
• Stone Basket
• Imaging Sensor

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Flexible Ureteroscopy

Urinary Lithiasis Current Clinical Solution Kidney Stones formation in the urinary tract fURS: Flexible ureteroscopy

fURS

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Ergonomic problems for surgeons

Flexible Ureteroscopy

Urinary Lithiasis Current Clinical Solution Kidney Stones formation in the urinary tract fURS: Flexible ureteroscopy

fURS

Radiation-exposed surgeons

Drawbacks

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fURS Robotized fURS

Robotized Flexible Ureteroscopy

Urinary Lithiasis Current Clinical Solution Kidney Stones formation in the urinary tract fURS: Flexible ureteroscopy

• Ureteroscope controlled from an

ergonomically advantageous and safe position

• Visualization of endoscopic and X-ray

images directly on the console

Avicenna Roboflex (ELMED, Ankara, Turkey) (Saglam, et al., 2014)

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fURS Robotized fURS

Urinary Lithiasis Current Clinical Solution Kidney Stones formation in the urinary tract fURS: Flexible ureteroscopy Avicenna Roboflex (ELMED, Ankara, Turkey) (Saglam, et al., 2014)

• Number of DOF
• Ad-hoc system

LIMITS

High cost

Robotized Flexible Ureteroscopy

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LITHOS project

Elements

Multifunctional Robotic arm Specific Actuator Control Console X-ray Machine Integration

Federico Nasi 878729

LITHOS project

Elements

Multifunctional Robotic arm Specific Actuator Control Console X-ray Machine Integration

Objectives

Improved Control, more DOF Versatility Nowadays interrupted

Federico Nasi 878729

LITHOS project

Elements

Multifunctional Robotic arm Specific Actuator Control Console X-ray Machine Integration

Advantages

Improved Control Versatility

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

• Design of mechanical parts

for the realization of 3 basic instrument movements

• Hardware and Firmware, design and development for

the control of the robot and the realization of a graphic interface.

• Design of mechanical parts

for the realization of 3 basic instrument movements

Cobra Vision, Flexible Dual Channel Sensor Ureterorenoscope, Richard Wolf

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

• Design of mechanical parts

for the realization of 3 basic instrument movements

• Hardware and Firmware, design and development for

the control of the robot and the realization of a graphic interface.

• Movement Range
• Movement Resolution

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

• Insertion/Retraction of

endoscopic cable

Which movement?

• Insertion in the urinary

system and its exploration looking for stones

• Extraction of stone once

taken

Why?

• Range 55 cm
• Resolution 0.5 cm

Specifications

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

360°

• Rotation around its

longitudinal axis

Which movement?

• Improve the

manoeuvrability of the instrument

• Alignment the different

terminals of the tip with the target

Why?

• Range ±360°
• Resolution 0.5°

Specifications

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

• Tip Deflection Movement

Which movement?

• Improve the

manoeuvrability of the instrument

• Alignment the different

terminals of the tip with the target

Why?

• Range 90°
• Resolution 5°

Specifications

90°

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

Mechanical Control & Electronic Experimental

1 2 3

Design and implementation of mechanical technological solution for the realization of three basic movements

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

Mechanical Control & Electronic Experimental

1 2 3

• Hardware
• Firmware

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

Mechanical Control & Electronic Experimental

1 2 3

• Movement Range
• Movement Resolution

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

Mechanical Control & Electronic Experimental

1 2 3

Federico Nasi 878729

Mechanical phase

Design and implementation of mechanical technological solution for the realization of three basic movements

Hold the instrument Hold the motors

Mechanical parts

Allow the requested movements

Metal Gearmotor by Pololu

• Encoder: 48 CPR
• Power: HP 12 V
• Gearbox: 99:1

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Mechanical phase, Insertion/retraction movement

Drag system

6 cm 5,4 cm 19 cm 13,3 cm 68 cm 11,2 cm

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Mechanical phase, Rotation movement

Worm Gear

68 cm 9 cm 7 cm 13 cm 13 cm 5,4 cm

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Mechanical phase, Tip Deflection movement

Hooking system

68 cm 5,4 cm 4,2 cm 8 cm

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

Mechanical Control & Electronic Experimental

1 2 3

Federico Nasi 878729

Control & Electronic Phase

Hardware Firmware

• Activation of the motors with a controller device from a

comfortable and safe position

• Collection of encoder data and Creation of a Graphic User

Interface to plot them

• Allowing the user to manage the

different movements 3D mouse (SpaceMouse Compact, 3D connexion, Boston, USA)

Robot movement Rotation of the instrument Insertion/Retraction of the cable Tip Deflection Acceleration/Deceleration rotation movement Mouse movement Right and left rotation

• f the controller cap

Back and forth inclination

• f the controller cap

Right and left inclination

• f the controller cap

Lateral buttons

Fixed base Movable controller cap

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Control & Electronic Phase

Hardware Firmware

• Activation of the motors with a controller device from a

comfortable and safe position

• Collection of encoder data and Creation of a Graphic User

Interface to plot them

PWM data Motion transmission Motor activation data Mouse motion data

• Activating

and deactivating the 3 motors according to the received data from the PC

Federico Nasi 878729

Control & Electronic Phase

Hardware Firmware

• Activation of the motors with a controller device from a

comfortable and safe position

• Collection of encoder data and Creation of a Graphic User

Interface to plot them

Encoder data (counts per revolution) Motor position and velocity

• Receiving data produced by the

encoders

• Processing to obtain information

about position and speed.

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Control & Electronic Phase

Hardware Firmware

• Activation of the motors with a controller device from a

comfortable and safe position

• Collection of encoder data and Creation of a Graphic User

Interface to plot them

Motor position and velocity Encoder data (counts per revolution) Motor position and velocity

• Creating a graphical

interface to plot the received data of velocity and position

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Final system, Insertion/Retraction movement

Velocity Position

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Final system, Rotation movement

Velocity Position

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Final system, Tip deflection movement

Velocity Position

Federico Nasi 878729

Aim of the work

Study and creation of a robotic support and movement control system for a commercial ureteroscope, within the LITHOS project.

Mechanical Control & Electronic Experimental

1 2 3

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Experimental phase, Methods

· 𝑆𝑏𝑜𝑕𝑓 (𝑑𝑛 𝑝𝑠 ° ) 𝑆𝑏𝑜𝑕𝑓 (𝑛𝑝𝑢𝑝𝑠 𝑑𝑝𝑣𝑜𝑢𝑡)

• 2. The test is repeated several times (41

times)

• 1. The user performs an action with the

mouse cap as small as possible

• 3. The motor counts data are recorded

for each attempt

• 4. An average value is calculated

Resolution in motor counts Resolution in cm or degree

𝑆𝑓𝑡𝑝𝑚𝑣𝑢𝑗𝑝𝑜 (𝑛𝑝𝑢𝑝𝑠 𝑑𝑝𝑣𝑜𝑢𝑡) = Resolution 𝑑𝑛 𝑝𝑠 °

Motor power variation ±12 V

Computation of resolution for each power Best power for each movement

• Movement Range and Resolution
• Movement Range and Resolution

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Experimental phase, Results, Range

Insertion full Range Average Value Range STD N° of tests

51,48 cm

[51,35cm-51,61cm] 0.102 cm 5

Smaller drag structure size

55 cm

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Experimental phase, Results, Range

Insertion full Range Average Value Range STD N° of tests

51,48 cm

[51,35cm-51,61cm] 0.102 cm 5

Smaller drag structure size

55 cm 360°

Rotation full range Max rotation tested rotating clockwise Max rotation tested rotating counter clockwise Target Range

+720°

• 720°

[-360°; +360°]

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Experimental phase, Results, Range

90° ∶

=

90°

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Experimental phase, Results, Range

Power

Range

1 V

89,56°

2 V

86,86°

4 V

89,20°

6 V

87,11°

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Experimental phase, Results, Resolution

0,2 0,4 0,6 0,8 1 5 6 7

Cm

Power Resolution 5 V

0,519 cm

6 V

0,734 cm

7 V

0,920 cm 𝑆𝑏𝑜𝑕𝑓 (𝑑𝑛 𝑝𝑠 𝑒𝑓𝑕𝑠𝑓𝑓 ) 𝑆𝑏𝑜𝑕𝑓 (𝑛𝑝𝑢𝑝𝑠 𝑑𝑝𝑣𝑜𝑢𝑡) 𝑆𝑓𝑡𝑝𝑚𝑣𝑢𝑗𝑝𝑜 (𝑛𝑝𝑢𝑝𝑠 𝑑𝑝𝑣𝑜𝑢𝑡) 𝑆𝑓𝑡𝑝𝑚𝑣𝑢𝑗𝑝𝑜 𝑑𝑛 𝑝𝑠 𝑒𝑓𝑕𝑠𝑓𝑓

0.5 cm

Power Resolution 2 V

0,228°

4 V

0,377°

5 V

0,503°

6 V

0,604°

0,1 0,2 0,3 0,4 0,5 0,6 0,7 2 4 6 8

Degree

Power Resolution 1 V

2,71°

2 V

4,67°

4 V

10,75°

6 V

18,51°

0.5° 5°

5 10 15 20 2 4 6 8

Degree Power (V)

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Conclusions and future developments

Range

51,48 cm VS 55 cm ±360° VS ±360° ≈88° VS 90°

Resolution

0,52 cm VS 0,5 cm 0,23° VS 0,5° 4,67° VS 5°

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Conclusions and future developments

Improvements

Mechanical Parts Electronic

Firmware Adaptation to different types of endoscopes on the market Connection to a multi-functional mechanical arm Control system

GUI

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Thanks for your attention