Autonomous Surgical Tumor Resection

An Interchangeable Surgical Instrument System with Application to Supervised Automation of Multilateral Tumor Resection

Abstract

Many surgical procedures require a sequence of different end-effectors but switching tools for robot-assisted minimally-invasive surgery (RMIS) requires time-consuming re- moval and replacement through the trocar port. We present an interchangeable instrument system that can be contained within the body cavity. It is based on a novel mounting mechanism compatible with a standard RMIS gripper and a tool-guide and sleeve to facilitate automated instrument switching. Exper- iments suggest that an Intuitive Surgical system using these interchangeable instruments can perform a multi-step tumor resection procedure that uses a novel haptic probe to localize the tumor, standard scalpel to expose the tumor, standard grippers to extract the subcutaneous tumor, and a novel fluid injection tool to seal the wound.

References

• An Interchangeable Surgical Instrument System with Application to Supervised Automation of Multilateral Tumor Resection.
  Stephen McKinley, Animesh Garg, Siddarth Sen, David V. Gealy, Jonathan P. McKinley, Yiming Jen,Mengluo Guo, Doug Boyd, Ken Goldberg.
  Under Review at IEEE Int’l Conf. on Automation Science and Engineering (CASE) 2016


• Winner: Hamlyn Challenge 2015 Video Award. [Youtube]


• A Disposable Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery.
  Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithyavairavan Murali, Kirk Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison M. Okamura, Ken Goldberg.
  IEEE Int’l Conference on Automation Science and Engineering (CASE), 2015.

Contributors

This is an ongoing project at UC Berkeley with contributions from:
Stephen McKinley, Animesh Garg, Siddarth Sen, David Gealy, Jonathan McKinley, Yiming Jen.
PI: Ken Goldberg

Support or Contact

Please Contact Animesh Garg at animesh.garg@berkeley.edu