Skip to main content
SpringerLink
Log in
Book cover

Recent Advances in Mechanism Design for Robotics pp 165–175Cite as

Towards Safe Robotic Surgical Systems

  • Conference paper
  • First Online:

  • 2314 Accesses

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 33))

Abstract

A proof of safety is paramount for an autonomous robotic surgical system to ensure that it does not cause trauma to patients. However, a proof of safety is rarely constructed, as surgical systems are too complex to be dealt with by most formal verification methods. In this paper, we design a controller for motion compensation in beating-heart surgery, and prove that it is safe, i.e., the surgical tool is kept within an allowable distance and orientation of the heart. We solve the problem by simultaneously finding a control law and a barrier function. The motion compensation system is simulated from several initial conditions to demonstrate that the designed control system is safe for every admissible initial condition.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD   169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Aubin, J.P.: Viability Theory. Birkhäuser, Boston (1991)

    MATH  Google Scholar 

  2. Craig, J.J.: Introduction to Robotics: Mechanics and Control, 3rd edn. Pearson Prentice Hall, New Jersey (2005)

    Google Scholar 

  3. Ding, J., Gillula, J.H., Huang, H., Vitus, M.P., Zhang, W., Tomlin, C.J.: Hybrid systems in robotics. IEEE Robot. Autom. Mag. 18(3), 33–43 (2011). doi:10.1109/MRA.2011.942113

    Article  Google Scholar 

  4. Kerber, F., van der Schaft, A.: Compositional analysis for linear control systems. In: Proceedings of the 13th ACM International Conference on Hybrid Systems: Computation and Control, pp. 21–30. ACM, New York (2010). doi:10.1145/1755952.1755957

  5. Leveson, N., Turner, C.: An investigation of the Therac-25 accidents. Computer 26(7), 18–41 (1993). doi:10.1109/MC.1993.274940

    Article  Google Scholar 

  6. Madsen, I.H., Tornehave, J.: From Calculus to Cohomology: De Rham Cohomology and Characteristic Classes. Cambridge University Press, Cambridge (1997)

    MATH  Google Scholar 

  7. Moustris, G.P., Hiridis, S.C., Deliparaschos, K.M., Konstantinidis, K.M.: Evolution of autonomous and semi-autonomous robotic surgical systems: a review of the literature. Int. J. Med. Robot. Comput. Assist. Surg. 7(4), 375–392 (2011). doi:10.1002/rcs.408

    Article  Google Scholar 

  8. Muradore, R., Bresolin, D., Geretti, L., Fiorini, P., Villa, T.: Robotic surgery: formal verification of plans. IEEE Robot. Autom. Mag. 18(3), 24–32 (2011). doi:10.1109/MRA.2011.942112

    Article  Google Scholar 

  9. Nakamura, Y., Kishi, K., Kawakami, H.: Heartbeat synchronization for robotic cardiac surgery. IEEE Int. Conf. Robot. Autom. 2, 2014–2019 (2001). doi:10.1109/ROBOT.2001.932903

    Google Scholar 

  10. Prajna, S., Jadbabaie, A., Pappas, G.J.: A framework for worst-case and stochastic safety verification using barrier certificates. IEEE Trans. Autom. Control 52(8), 1415–1428 (2007). doi:10.1109/TAC.2007.902736

    Article  MathSciNet  Google Scholar 

  11. Richa, R., Bo, A.P.L., Poignet, P.: Towards robust 3d visual tracking for motion compensation in beating heart surgery. Med. Image Anal. 15(3), 302–315 (2011). doi:10.1016/j.media.2010.12.002

    Article  Google Scholar 

  12. Shechter, G., Ozturk, C., Resar, J., McVeigh, E.: Respiratory motion of the heart from free breathing coronary angiograms. IEEE Trans. Med. Imaging 23(8), 1046–1056 (2004). doi:10.1109/TMI.2004.828676

    Article  Google Scholar 

  13. Sloth, C., Pappas, G.J., Wisniewski, R.: Compositional safety analysis using barrier certificates. In: Proceedings of Hybrid Systems: Computation and Control, pp. 15–23 (2012). doi:10.1145/2185632.2185639

  14. Sloth, C., Wisniewski, R., Larsen, J., Leth, J., Poulsen, J.: Model of Beating-Heart and Surgical Robot. Technical report, Aalborg University, Aalborg (2012)

    Google Scholar 

  15. Sontag, E.D.: A ‘universal’ construction of Artstein’s theorem on nonlinear stabilization. Syst. Control Lett. 13(2), 117–123 (1989). doi:10.1016/0167-6911(89)90028-5

    Article  MATH  MathSciNet  Google Scholar 

  16. Sun, L.W., Van Meer, F., Schmid, J., Bailly, Y., Thakre, A.A., Yeung, C.K.: Advanced da Vinci surgical system simulator for surgeon training and operation planning. Int. J. Med. Robot. Comput. Assist. Surg. 3(3), 245–251 (2007). doi:10.1002/rcs.139

    Article  Google Scholar 

  17. Wieland, P., Allgöwer, F.: Constructive safety using control barrier functions. In: Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems, pp. 462–467 (2007). doi:10.3182/20070822-3-ZA-2920.00076

Download references

Author information

Authors and Affiliations

  1. Automation and Control, Department of Electronic Systems, Aalborg University, Aalborg, Denmark

    C. Sloth & R. Wisniewski

Authors
  1. C. Sloth
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. R. Wisniewski
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to C. Sloth .

Editor information

Editors and Affiliations

  1. Aalborg University, Aalborg, Denmark

    Shaoping Bai

  2. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Sloth, C., Wisniewski, R. (2015). Towards Safe Robotic Surgical Systems. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_16

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-18126-4_16

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18125-7

  • Online ISBN: 978-3-319-18126-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation