Automation of Intraoperative Tool Changing for Robot-Assisted Laparoscopic Surgery

Abstract

Intraoperative tool change is a time-consuming and labor-intensive task for robot-assisted laparoscopic surgery. Serial multi-DOF manipulators are poten-tial devices for realizing automatic intraoperative tool changes because of the layout flexibility and motion range, and multi-DOF makes it feasible for the manipulator to access and fetch the surgical tools by itself. However, the direction of the trocar may change because of the soft abdomen, and the lack of a fixed RCM makes it difficult for manipulators to reinsert a new surgical tool through the trocar. This study proposes a system prototype using a 7-DOF manipulator to au-tomatically conduct the intraoperative tool-changing task. The newly designed surgical tool docking station facilitates surgical tool coupling/decoupling by rotat-ing the manipulator’s end effector once. The proposed trocar recognition method with position error com-pensation is reliable for aligning a new surgical tool to the trocar port, even when the direction of the tro-car is changed. The experimental results confirms that the manipulator can accomplish an intraoperative tool changing task without additional assistance or correc-tion from the human.