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Design, Development, and Evaluation of Meso-Scale Robotic System for Deep Intracranial Tumor Removal

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Design, Development, and Evaluation of Meso-Scale Robotic System for Deep Intracranial Tumor Removal DESIGN, DEVELOPMENT, AND EVALUATION OF MESO-SCALE ROBOTIC SYSTEM FOR DEEP INTRACRANIAL TUMOR REMOVAL A Dissertation Presented to The Academic Faculty By Shing Shin Cheng In Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in Robotics Georgia Institute of Technology August 2018 Copyright c Shing Shin Cheng 2018 DESIGN, DEVELOPMENT, AND EVALUATION OF MESO-SCALE ROBOTIC SYSTEM FOR DEEP INTRACRANIAL TUMOR REMOVAL Approved by: Dr. Jaydev P. Desai Wallace H. Coulter Department of Dr. Jonathan Rogers Biomedical Engineering George W. Woodruff School of Georgia Institute of Technology Mechanical Engineering Georgia Institute of Technology Dr. Jun Ueda George W. Woodruff School of Dr. John N. Oshinski Mechanical Engineering Wallace H. Coulter Department of Georgia Institute of Technology Biomedical Engineering Georgia Institute of Technology Dr. Frank L. Hammond III Wallace H. Coulter Department of Date Approved: June 12, 2018 Biomedical Engineering Georgia Institute of Technology ACKNOWLEDGMENTS I would like to express my deepest gratitude to my PhD advisor, Professor Jaydev P. Desai, for giving me the opportunity and believing in me who came to the lab without any Master’s experience, giving me the financial support for a technically challenging and socially meaningful project, providing me advice, feedback, and encouragement, being available every time I need more attention and guidance, and finally providing strong sup- port for my future career pursuit. He has given me opportunities after opportunities and I could not say enough thank you. I would like to thank everyone at University of Maryland School of Medicine, includ- ing Dr. Rao Gullapalli, Steve Roys, Dr. Mahamadou Diakite, Dr. J. Marc Simard, Dr. Matt Kole, and Dr. Jiachen Zhuo. The radiologist team had been able to work closely with us and provided us the MRI facility to perform robot evaluation. Despite his busy schedule, Dr. Gullapalli stayed up past midnight to work with us. I am also very grateful to my PhD reading committee members, Dr. Jun Ueda, Dr. Frank Hammond, Dr. Jonathan Rogers, and Dr. John Oshinski for their commitment, time, and very constructive advice given during my proposal and defense presentation. I would like to thank National Insti- tute Of Biomedical Imaging And Bioengineering of the National Institutes of Health for sponsoring the MINIR-II project under the Award Number R01EB015870. I would like to thank many staffs at University of Maryland, College Park (UMCP) and Georgia Institute of Technology, who provided a helping hand throughout the years. They are the technical and administration staffs in the machine shops, clean room, UMCP Department of Mechanical Engineering and Georgia Tech Department of Biomedical En- gineering. I would like to dedicate special appreciation to two wonderful staffs that I had the pleasure to work with, Coral-Gean Abel and Karine Avagian. It has been an incredibly gratifying experience in a lab (RAMS lab at University of Maryland, College Park and RoboMed lab at Georgia Institute of Technology) full of stu- iii dents and post-docs who have become more like friends than colleagues to me, including Jun Sheng, Kihan Park, Yeongjin Kim, Xuefeng Wang, Yash Chitalia, Phillip Tran, Chad Kessens, Elif Ayvali, Wenxue Zhao, Carolyn Adkins, Bo Yang, and Nahian Rahman. I really appreciate the collaboration and teamwork that I formed with the two post-docs, Yeongjin Kim and Xuefeng Wang, who had guided me throughout my research work. Jun Sheng and Kihan Park are two close friends who have shared ideas, advice, assistance, and encouragement throughout the four years during which our times in the lab have over- lapped. I also had the honor to witness some important milestones in their lives. I would like to thank my parents, especially my mother, who has been a constant moral support for me. Despite not being able to spend much time with her during this time, she has been a Facetime away and she is always be my best listener. Her love and support mean a lot to me. I would like to thank my brother and his family for being who they are and supportive of every one of my decision. Simply, without my family, I will not be where I am today. Last but not least, I would like to make a special mention to my wife, Su Cheun Oh, who is herself a gifted engineer and a disciplined researcher. I would not forget the nights she stayed up with me just to encourage me to tackle the seemingly unsolvable problems and overcome the insurmountable pressure, the brainstorming and idea explaining sessions we had together, and the correct positive mindset she instilled in me. She has always been there for me through thick and thin and is always the first person that I want to share my best and worst moments. I would like to dedicate this dissertation to both my parents and my fiancee.´ iv TABLE OF CONTENTS Acknowledgments . iii List of Tables . ix List of Figures . x Summary . .xviii Chapter 1: Introduction . 1 1.1 Motivation . 1 1.2 Related Work . 3 1.2.1 Neurosurgical Robots . 3 1.2.2 Flexible Surgical Robots . 6 1.2.3 MRI-Compatible Surgical Robots . 12 1.2.4 MRI-Compatible Actuators . 20 1.3 Research Objectives . 28 1.4 Thesis Overview . 28 Chapter 2: 3-D Printed Spring-Based Flexible Robot . 30 2.1 Introduction . 30 2.2 Robot Design . 30 2.3 Kinematics and Jacobian . 34 2.3.1 Relationship between Tendon Displacement and Joint Variables . 34 2.3.2 Derivation of Forward Kinematics using the Twist Method . 37 2.3.3 Derivation of Jacobian . 41 2.3.4 Forward Kinematics: Simulation and Experiments . 42 2.3.5 Force Analysis . 45 2.4 Independent Segment Control . 47 2.5 Vision-Based Control with Cooling Strategy . 50 2.6 Motion Test in Gelatin and MRI Compatibility Test . 56 2.7 Summary . 57 Chapter 3: Development of Cooling Module-Integrated SMA Spring Actuator . 59 3.1 Strengths and Drawbacks of SMA . 59 3.2 Background on Heating and Cooling of SMA . 60 3.3 Actuation Bandwidth of Neurosurgical Robots . 62 3.4 Design of an SMA Spring Cooling Module . 64 v 3.5 Phenomenological Model of SMA Spring in an Antagonistic Configuration 66 3.5.1 Model Derivation . 66 3.5.2 Determination of Parameters for the SMA Spring Constitutive Model 72 3.6 Heat Transfer Model . 74 3.6.1 Model Derivation . 74 3.6.2 Determination of Parameters for Heat Transfer Model . 80 3.7 Experimental Setups . 81 3.7.1 Verification of Antagonistic SMA Model and Heat Transfer Model, and Determination of Maximum Actuation Frequency . 81 3.7.2 Implementing Antagonistic SMA Spring Actuators on MINIR-II . 83 3.8 Results and Discussion . 83 3.9 Summary . 90 Chapter 4: Development of an Actuation Mechanism for Cooling Module-Integrated SMA Springs . 93 4.1 Introduction . 93 4.2 Cooling Module and Actuation Mechanism for Antagonistic SMA Springs 93 4.3 Actuator Characterization for Optimal Robot Speed . 95 4.3.1 Effect of Current . 97 4.3.2 Effect of Water Flow Rate . 98 4.3.3 Effect of Pre-Displacement . 99 4.3.4 Effect of Gauge Pressure . 100 4.4 Experimental Setup . 102 4.4.1 Improved Robot Design . 102 4.4.2 Experiment . 103 4.5 Results and Discussion . 106 4.5.1 Effect of Current and Water Flow Rate . 106 4.5.2 Effect of Pre-Displacement and Gauge Pressure . 108 4.5.3 Comparison between Two Cooling Media: Water and Air . 110 4.6 Summary . 110 Chapter 5: Stiffness Modulated Spring-Based Flexible Robot . 112 5.1 Background and Research Objective . 112 5.2 Robot Design . 115 5.3 SMA Spring Bending Stiffness Model . 121 5.4 Resistive Force Analysis from Tendon Locking . 127 5.5 Independent Segment Control . 129 5.6 Local Stiffness Characterization . 132 5.6.1 Local Stiffness Changes by SMA Backbone Stiffening and Tendon Locking . 133 5.6.2 Active Stiffness Tuning of SMA Spring Backbone . 138 5.6.3 Relationship between Tension and Resistive Force . 139 5.7 Motion Capability Evaluation and MRI Compatibility Verification . 140 5.8 Summary . 142 vi Chapter 6: Remote Actuation: Flexible Bowden Cable Transmission . 145 6.1 Transition from SMA Springs to Ultrasonic Motors . 145 6.2 Background on Remotely-Actuated Surgical Robotic Systems . 146 6.3 Effect of Ultrasonic Motors and Drivers on Signal-to-Noise Ratio (SNR) . 148 6.4 Design of the Robotic System . 149 6.4.1 System Requirements . 150 6.4.2 Key Design Components . 151 6.5 Friction Model of the Bowden Cable Transmission . 158 6.6 Experimental Setups . 163 6.6.1 Relationship between Cable Displacement and Robot Segment Dis- placement . 163 6.6.2 Relationship between Input Force and Output Force . 165 6.6.3 System Evaluation . 166 6.7 Results and Discussion . 167 6.7.1 Relationship between Cable Displacement and Robot Segment Dis- placement . 167 6.7.2 Relationship between Input Force and Output Force . 168 6.7.3 Implementation of the Robotic System . 168 6.8 Summary . 169 Chapter 7: Remote Actuation: Rigid Transmission 1 . 171 7.1 Introduction . 171 7.2 Objectives and Overview of the Robotic System . 171 7.2.1 Design criteria . 172 7.2.2 Overview of the Robotic System . 173 7.3 Design of the Transmission Module . 175 7.3.1 Quick-Connect Mechanism . 175 7.3.2 Linkage Mechanism . 179 7.3.3 Switching Mechanism . 180 7.4 Results and Discussion . 183 7.4.1 Preliminary Mechanical Properties Characterization . 183 7.4.2 Evaluation of Motion Range and Switching Mechanism Effective- ness . 184 7.4.3 Evaluation on Motion Capability . 184 7.4.4 Evaluation on MRI Compatibility .
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