Robotic system for nasopharyngeal swab sampling based on remote center of motion mechanism.

PURPOSE: In this study, a robotic system is proposed for nasopharyngeal (NP) swab sampling with high safety and efficiency. Most existing swab-sampling robots have more than six degrees of freedom (DOFs). However, not all six DOFs are necessarily required for NP swab sampling. A high number of DOFs can cause safety problems, such as collisions between the robot and patient. METHOD: We developed a new type of robot with four DOFs for NP swab sampling that consists of a two DOFs remote center of motion (RCM) mechanism, a two DOFs insertion mechanism, and a nostril support unit. With the nostril support unit, the robot no longer needs to adjust the insertion position of the swab. The proposed robot enables the insertion orientation and depth to be adjusted according to different postures or facial shapes of the subject. For intuitive and precise remote control of the robot, a dedicated master device for the RCM and a visual feedback system were developed. RESULT: The effectiveness of the robotic system was demonstrated by repeatability, RCM accuracy, tracking accuracy, and in vitro phantom experiments. The average tracking error between the master device and the robot was less than 2 mm. The contact force exerted on the swab prior to reaching the nasopharynx was less than 0.04 N, irrespective of the phantom's pose. CONCLUSION: This study confirmed that the RCM-based robotic system is effective and safe for NP swab sampling while using minimal DOFs.

Simultaneous Optimization of Patient-Image Registration and Hand-Eye Calibration for Accurate Augmented Reality in Surgery.

OBJECTIVE: Augmented reality (AR) navigation using a position sensor in endoscopic surgeries relies on the quality of patient-image registration and hand-eye calibration. Conventional methods collect the necessary data to compute two output transformation matrices separately. However, the AR display setting during surgery generally differs from that during preoperative processes. Although conventional methods can identify optimal solutions under initial conditions, AR display errors are unavoidable during surgery owing to the inherent computational complexity of AR processes, such as error accumulation over successive matrix multiplications, and tracking errors of position sensor. METHODS: We propose the simultaneous optimization of patient-image registration and hand-eye calibration in an AR environment before surgery. The relationship between the endoscope and a virtual object to overlay is first calculated using an endoscopic image, which also functions as a reference during optimization. After including the tracking information from the position sensor, patient-image registration and hand-eye calibration are optimized in terms of least-squares. RESULTS: Experiments with synthetic data verify that the proposed method is less sensitive to computation and tracking errors. A phantom experiment with a position sensor is also conducted. The accuracy of the proposed method is significantly higher than that of the conventional method. CONCLUSION: The AR accuracy of the proposed method is compared with those of the conventional ones, and the superiority of the proposed method is verified. SIGNIFICANCE: This study demonstrates that the proposed method exhibits substantial potential for improving AR navigation accuracy.

Compact Bone Surgery Robot With a High-Resolution and High-Rigidity Remote Center of Motion Mechanism.

OBJECTIVE: Two important and difficult tasks during a bone drilling procedure are guiding the orientation of the drilling axis toward the target and maintaining the orientation against the drilling force. To accomplish these tasks, a remote center of motion (RCM) mechanism is adopted to align the orientation of the drilling axis without changing the entry point. However, existing RCM mechanisms do not provide sufficient resolution and rigidity to address hard tissue cases. METHODS: We propose a new type of RCM mechanism that uses two sets of linear actuators and a gearless-arc guide to have a high resolution and rigidity. In addition, we designed a single motor-based drilling mechanism based on rolling friction. To achieve automatic control of the guiding and drilling process, we incorporated a computer-tomography-based navigation system that was equipped with an optical tracking system. RESULTS: The effectiveness of the integrated robotic system was demonstrated through a series of experiments and ex vivo drilling tests on swine femurs. The proposed robotic system withstood a maximum external force of 51 N to maintain the joint angle, and the average drilling error was less than 1.2 mm. CONCLUSION: This study confirms the feasibility of the proposed bone drilling robotic system with a high-resolution and high-rigidity RCM mechanism. SIGNIFICANCE: This drilling system is the first successful trial based on an RCM mechanism and a single motor-based drilling mechanism, reducing the footprint and required motors with respect to previous bone surgical robots.

Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery.

PURPOSE: One of the main factors that affect the rigidity of flexible robots is the twist deformation because of the external force exerted on the end effector. Another important factor that affects accuracy is the fact that such robots do not have a constant curvature. The conventional kinematic model assumes that the curvature is constant; however, in reality, it is not. To improve the rigidity and accuracy of flexible robots used in minimally invasive surgery via preventing the twist deformation while ensuring a constant curvature, we propose a novel flexible manipulator with ball-constrained spherical (BCS) joints and a spring. METHODS: The BCS joints are used to prevent the twist deformation in the flexible robot. The joints have two degrees of freedom (DOFs), which limit the rotation about the axial direction. The rotation is limited because the ball that is inserted into a BCS joint can move only along the ball guide. To obtain a constant curvature, springs are installed among the BCS joints. The springs receive the uniform compression force generated among the joints, thus achieving a constant curvature. The proposed BCS joint is designed based on the diameter of the forceps, desired workspace, and desired bending angle. RESULTS: To evaluate the proposed mechanism, three experiments were performed using a 20-mm-diameter prototype consisting of 13 BCS joints with a two-DOF motion. The experimental results showed that the prototype can realize a constant curvature with a mean error of 0.21°, which can support up to 5 N with no apparent twist deformation. CONCLUSIONS: We developed a flexible manipulator with BCS joints for minimally invasive surgery. The proposed mechanism is anticipated to help prevent the twist deformation of the robot and realize a constant curvature. Accordingly, it is expected that rigidity is improved to ensure accuracy.

An all-joint-control master device for single-port laparoscopic surgery robots.

PURPOSE: Robots for single-port laparoscopic surgery (SPLS) typically have all of their joints located inside abdomen during surgery, whereas with the da Vinci system, only the tip part of the robot arm is inserted and manipulated. A typical master device that controls only the tip with six degrees of freedom (DOFs) is not suitable for use with SPLS robots because of safety concerns. METHODS: We designed an ergonomic six-DOF master device that can control all of the joints of an SPLS robot. We matched each joint of the master, the slave, and the human arm to decouple all-joint motions of the slave robot. Counterbalance masses were used to reduce operator fatigue. Mapping factors were determined based on kinematic analysis and were used to achieve all-joint control with minimal error at the tip of the slave robot. RESULTS: The proposed master device has two noteworthy features: efficient joint matching to the human arm to decouple each joint motion of the slave robot and accurate mapping factors, which can minimize the trajectory error of the tips between the master and the slave. CONCLUSIONS: We confirmed that the operator can manipulate the slave robot intuitively with the master device and that both tips have similar trajectories with minimal error.

Silver Nanoparticle-Embedded Thin Silica-Coated Graphene Oxide as an SERS Substrate.

A hybrid of Ag nanoparticle (NP)-embedded thin silica-coated graphene oxide (GO@SiO2@Ag NPs) was prepared as a surface-enhanced Raman scattering (SERS) substrate. A 6 nm layer of silica was successfully coated on the surface of GO by the physical adsorption of sodium silicate, followed by the hydrolysis of 3-mercaptopropyl trimethoxysilane. Ag NPs were introduced onto the thin silica-coated graphene oxide by the reduction of Ag⁺ to prepare GO@SiO2@Ag NPs. The GO@SiO2@Ag NPs exhibited a 1.8-fold enhanced Raman signal compared to GO without a silica coating. The GO@SiO2@Ag NPs showed a detection limit of 4-mercaptobenzoic acid (4-MBA) at 0.74 µM.