Performance evaluation for multi-arm manipulation of hollow suspended organs

Authors:
Wei Wei;Roger E. Goldman;Howard F. Fine;Stanley Chang;Nabil Simaan
Affiliations:
Department of Mechanical Engineering, Columbia University, New York, NY;Department of Mechanical Engineering, Columbia University, New York, NY;Department of Ophthalmology, Columbia University, New York, NY;Department of Ophthalmology, Columbia University, New York, NY;Department of Mechanical Engineering, Columbia University, New York, NY
Venue:
IEEE Transactions on Robotics
Year:
2009

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Abstract

This paper presents a unified mathematical framework for modeling and evaluating the performance of multiple robotic arms that operate on hollow suspended organs. This framework is applied 10 a novel two-armed hybrid robotic system being developed for ophthalmic vitreous surgeries. Four cases are designated to capture the general movements required for any surgical procedure associated with hollow suspended organs. Dexterity measures, based on multiple characteristic lengths, are presented for procedures corresponding to these mauipulation cases. Simulation results of the dual-arm robotic system for ophthalmic surgery are presented for all four manipulation cases. A comparison of this robotic system with current surgical tools shows a significant improvement in intraocular dexterity.