Research Papers

Modeling, Force Sensing, and Control of Flexible Cannulas for Microstent Delivery

[+] Author and Article Information
Wei Wei

Advanced Robotics and Mechanisms, Applications Lab (ARMA Lab), Department of Mechanical Engineering,  Vanderbilt University, Nashville, TN 37240ww2161@columbia.edu

Nabil Simaan1

Advanced Robotics and Mechanisms, Applications Lab (ARMA Lab), Department of Mechanical Engineering,  Vanderbilt University, Nashville, TN 37240nabil.simaan@vanderbilt.edu


Corresponding author.

J. Dyn. Sys., Meas., Control 134(4), 041004 (Apr 27, 2012) (12 pages) doi:10.1115/1.4006080 History: Received July 07, 2010; Revised January 10, 2012; Published April 26, 2012; Online April 27, 2012

This paper presents a kinetostatic modeling framework for flexible cannulas (concentric tubing robots) subject to tip loads. Unlike existing methods that allow fast computation of the beam tip position, this modeling framework provides fast computation of both the tip position and the entire shape of the deflected robot. A method for online force sensing based on inverse kinetostatic solution is also proposed and assistive telemanipulation control methods for microstent delivery are presented. The modeling framework uses polynomial approximation and linear interpolation based on elliptic integral solutions to the deflection of lightweight beams. To date, there are no systems capable of stent delivery in retinal vasculature. The modeling and control frameworks of this paper are validated experimentally on pilot studies for microstent delivery. We believe that the methods presented in this paper open the way for robot-assisted retinal microvascular stenting that may potentially revolutionize the treatment of blinding retinal vasculature diseases.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

A typical surgical setup for ophthalmic surgery

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Figure 2

A proposed dual-arm robotic system for ophthalmic surgery

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Figure 3

Proposed concentric tubing robot for cannulation

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Figure 4

Potential application of a concentric tubing robot as a microvascular stenting unit for retinal surgery

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Figure 5

Flowchart of stent delivery procedure using the proposed tubing robot

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Figure 6

Cantilever beam subject to a force applied at the distal tip

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Figure 7

Beam shape comparison of polynomial approximation and elliptic integral

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Figure 8

Interpolation results of a cantilever beam under specified loading conditions. Dots in the middle are interpolated beam points, compared to the theoretical shape presented by the middle curve

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Figure 9

Percentage error of the interpolated beam shape compared to the elliptic integral solution

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Figure 10

Tubing robot force diagram

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Figure 11

Flowchart of the force sensing algorithm

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Figure 12

Illustration of the proposed surgical setup for the robot

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Figure 13

Proposed 3-DoF tubing robot

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Figure 14

CAD model of the tubing robot and the carrying robot

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Figure 15

Experimental setup of the system

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Figure 16

Control architecture used for the stenting experiment

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Figure 17

Experimental image sequence to orient the tubing robot while maintaining its EE point position in the air

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Figure 18

Stent delivery experimental setup with artificial blood vessel channel created in agar

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Figure 19

Experimental image sequence for microstent delivery in agar-based blood vessel channel model

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Figure 20

Experimental setup for force sensing verification: (a) optical tracker tracing position and orientation of a cantilever beam tip and (b) loading setup to the cantilever beam tip

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Figure 21

Force sensing error plot



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