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Table of contents
1 Introduction
1.1 Laparoscopic surgery
1.2 Robot-assisted surgery
1.2.1 Telemanipulation
1.2.2 Comanipulation
1.3 The Achilles surgical system
1.4 Questions to be solved
1.5 Objective of the thesis
1.5.1 Instrument gravity compensation
1.5.2 Detecting trocars
1.5.3 Smooth guidance of motion – variable viscosity control
1.5.4 Lever effect
1.6 Content of the work
2 A laparoscopic comanipulator
2.1 Introduction
2.2 Achilles’ characteristics
2.2.1 Mechanics
2.2.2 Kinematics
2.2.3 Actuation
2.2.4 General idea of the comanipulated system
2.3 Gravity compensation for laparoscopic instrument
2.3.1 Implementation
2.3.2 Evaluation
2.4 Robust trocar detection and localization
2.4.1 Specific aims
2.4.2 Least square algorithm
2.4.3 Trocar detection and localization
2.4.4 Experimental validation
2.5 Conclusions
3 Variable viscosity control
3.1 Introduction
3.2 Variable viscosity control
3.2.1 Basic control law
3.2.2 Theoretical analysis of instability
3.2.3 Experimental evidence of instability
3.3 Adding a dynamics to slow down viscosity variation
3.3.1 Viscosity control with filtered coefficient
3.3.2 Theoretical investigation of stability
3.3.3 Experimental evaluation of stability
3.4 Point-to-point experiment
3.4.1 Materials and methods
3.4.2 Experimental results
3.4.3 Discussion
3.5 Conclusions
4 Lever model effect
4.1 Introduction
4.2 Establishment of lever model
4.2.1 Kinematic part
4.2.2 Dynamic part
4.2.3 The computation of lever model matrix
4.2.4 Verification of lever model
4.2.5 Discussion about lever model
4.3 Viscosity control with lever model
4.4 Materials and methods
4.4.1 Experiment setup
4.4.2 Experiment protocol
4.4.3 Performance indicators
4.4.4 Data analysis
4.5 Experimental results
4.6 Discussion
4.7 Conclusions
5 Conclusions and perspectives
5.1 Conclusions
5.2 Perspectives
References
