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A Low-Cost Teleoperable Surgical Robot with a Macro-Micro Structure and a Continuum Tip for Open-Source Research

Lachlan Scott, Tangyou Liu, Liao Wu

TL;DR

This work addresses the high cost and limited accessibility of advanced surgical robotics by introducing a low-cost macro-micro robotic system that combines a UR5e macro arm with a tendon-driven continuum micro-module. Teleoperation is achieved through a 3D Systems Touch haptic stylus, with ROS-based software handling real-time control, open-source hardware fabrication, and integration with electromagnetic tracking for validation. The study demonstrates macro, micro, and integrated teleoperation, achieving high-fidelity stylus-to-arm mirroring, sub-millimeter micro-tracking accuracy, and a complete simulated biopsy in a 10-DOF setup, highlighting the potential for open-source MIS research and rapid prototyping. The proposed platform lowers barriers to entry for surgical robotics research and provides a modular, extensible framework for macro-micro continuum manipulation and teleoperation.

Abstract

Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and development efforts using current state-of-the-art equipment. To address this challenge, this paper proposes a low-cost and modifiable tendon-driven continuum manipulator for MIS applications. The device is capable of being teleoperated in conjunction with a macro-scale six-axis robotic arm using a haptic stylus. Its control software incorporates and extends freely available and open-source software packages. For verification, we perform teleoperation trials on the proposed continuum manipulator using an electromagnetic tracker. We then integrate the manipulator with a UR5e robotic arm. A series of simulated tumour biopsies were conducted using the integrated robotic system and an anatomical model (phantom), validating its potential efficacy in MIS applications. The complete source code, CAD files for all additively manufactured components, a parts list for the manipulator, and a demonstration video of the proposed system are made available in this work.

A Low-Cost Teleoperable Surgical Robot with a Macro-Micro Structure and a Continuum Tip for Open-Source Research

TL;DR

This work addresses the high cost and limited accessibility of advanced surgical robotics by introducing a low-cost macro-micro robotic system that combines a UR5e macro arm with a tendon-driven continuum micro-module. Teleoperation is achieved through a 3D Systems Touch haptic stylus, with ROS-based software handling real-time control, open-source hardware fabrication, and integration with electromagnetic tracking for validation. The study demonstrates macro, micro, and integrated teleoperation, achieving high-fidelity stylus-to-arm mirroring, sub-millimeter micro-tracking accuracy, and a complete simulated biopsy in a 10-DOF setup, highlighting the potential for open-source MIS research and rapid prototyping. The proposed platform lowers barriers to entry for surgical robotics research and provides a modular, extensible framework for macro-micro continuum manipulation and teleoperation.

Abstract

Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and development efforts using current state-of-the-art equipment. To address this challenge, this paper proposes a low-cost and modifiable tendon-driven continuum manipulator for MIS applications. The device is capable of being teleoperated in conjunction with a macro-scale six-axis robotic arm using a haptic stylus. Its control software incorporates and extends freely available and open-source software packages. For verification, we perform teleoperation trials on the proposed continuum manipulator using an electromagnetic tracker. We then integrate the manipulator with a UR5e robotic arm. A series of simulated tumour biopsies were conducted using the integrated robotic system and an anatomical model (phantom), validating its potential efficacy in MIS applications. The complete source code, CAD files for all additively manufactured components, a parts list for the manipulator, and a demonstration video of the proposed system are made available in this work.
Paper Structure (14 sections, 1 equation, 10 figures, 1 table)

This paper contains 14 sections, 1 equation, 10 figures, 1 table.

Table of Contents

  1. Introduction
  2. Micro Module Design
  3. Robotic System Architecture
  4. Hardware
  5. Software
  6. Haptic Stylus Interface
  7. Macro Module Interface
  8. Micro Module Interface
  9. Results and Discussion
  10. Macro Module Teleoperation
  11. Micro Module Teleoperation
  12. Combined Teleoperation
  13. Conclusion
  14. Future Work

Figures (10)

  • Figure 1: The assembled macro-micro system during the phantom trial, with (A) the control computer, (B) the phantom chest model, (C) the micro manipulator, (D) the UR5e arm and (E) the Touch stylus device.
  • Figure 2: A close-up image of the tip of the manipulator showing the proximal rolling joints (A), distal rolling joints (B), and end-effector (C). The path of the central lumen is outlined in blue.
  • Figure 3: A diagram of the manipulator showing the tendon routing paths, and the pan and tilt directions for the proximal and distal modules.snakeraven
  • Figure 4: A top view of the interior of the micro module showing the UR5e mounting point (A), servo cable channels (B), servo shield supports (C), tendons with instrument channel entry point at right (D), a servo and pulley assembly (E), the Arduino Mega control board (F), the servo interface board (G), and power and data cable entry with power switch (H).
  • Figure 5: The system hardware components and their interfaces.
  • ...and 5 more figures