IEEE Robotics & Automation Magazine - June 2017 - 60
Table 4. The PID control loop parameters
used with the dVRK.
Joint
P Gain
D Gain
I Gain
I Limit
Range
Outer
yaw
50
5.0
0
0
±70°
Outer
pitch
50
5.0
0
0
±50°
Insertion
4,000
100
0
0
0-250 mm
End roll
1.0
0.1
0.002
±10
±270°
End
pitch
2.0
0.2
0.005
±5
±90°
End yaw
2.0
0.2
0.005
±5
±90°
Evaluation
Right Channel (VGA)
Stereo
Endoscope Left Channel (VGA)
System
Ultrasound
Console
da Vinci
Stereo
Viewer
Frame
Grabber
(DVI)
Frame
Grabber
Tactile
Sensor
(USB)
(USB)
Left Channel
with Overlay
(VGA)
Ultrasound
Transducer
Computer
(USB)
Figure 8. A schematic of the visualization setup for overlaying
the sensor feedback on the endoscope view. VGA: video graphics
array; DVI: digital visual interface.
(a)
(b)
(g)
(c)
(d)
(h)
(e)
(f)
(i)
Figure 9. The preliminary functional testing of the instrument.
Range of motion: (a) roll −270°, (b) roll +270°, (c) yaw −90°,
(d) yaw +90°, (e) pitch −90°, and (f) pitch +90°. Installing the
tactile sensor: (g) the instrument without the sensor, showing
the spring contacts; (h) inserting the sensor; and (i) pushing the
securing clip into place to hold the sensor.
accessed by pressing specific keys on the keyboard. Pressing
T or U on the keyboard causes a switch to tactile or ultrasound mode, respectively. The software runs in full-screen
mode on the computer, and the computer's VGA output is
used to transfer the left-channel video with the overlaid
60
*
sensor feedback to the da Vinci master console. Overlaying
the sensor feedback on only one of the stereo channels creates a pseudotransparency effect due to the way the human
brain combines information from the two channels. This
allows the surgeon to still see the area behind the overlay.
Ieee ROBOTICS & AuTOMATIOn MAGAZIne
*
June 2017
Prototype
A prototype that very closely represents the final design of the
instrument was constructed to evaluate its performance in
localizing tumors (Figure 1). The springs for tensioning the
sensor wiring have not been implemented on the prototype,
since the ultrasound transducer came with heat-shrunk tubing
on the wiring that makes it too thick to slide inside the instrument shaft. The absence of the springs does not significantly
affect the functionality of the instrument. Figure 9(a)-(f) shows
the prototype at the extremes of its range of motion, proving
that the wiring management technique does permit the desired
range of motion. Figure 9(g)-(i) shows the simple process of
installing a tactile sensor on the instrument. Tests with the prototype confirm that the design allows the tactile sensor to be
installed or removed in under 5 s.
A simple test was conducted to assess the amount of cable
stretch under the maximum palpation force of ±14 N in various orientations of the end effector. The test showed that the
maximum orientation error is within ±9.5°. The palpation
tests demonstrated that the operator can easily compensate
for this orientation error, because it is only along the direction
of palpation, making it intuitive for a human to adjust for it.
Experimental Setup
Figure 10(a) and (b) shows the experimental setup used to
test the instrument on a da Vinci Classic system retrofitted
with the dVRK electronics and software. The operator controls the instrument and receives the sensor feedback via the
master console. The instrument is mounted on the right arm
of the surgical robot. The sample to be palpated is placed on a
table under the surgical robot. The endoscope is pointed
straight down looking at the sample. A commercial force/
torque sensor (Gamma, ATI) is placed underneath the sample
to measure the palpation force required for consistent results.
Results
Preliminary tests have been conducted to verify the functionality of the instrument. The tests demonstrated that the
instrument can be manipulated in a very controlled manner
using the da Vinci master console, and that it makes the palpation process feel very natural and convenient. The results
presented in this section were obtained using the piezoresistive version of the tactile sensor. The capacitive version has a
similar performance, as discussed in [12]. Figure 10(c)-(f)
presents some sample screen-captures of the endoscope
view when the instrument is on top of a tumor. First, the
instrument was tested on a phantom made of Shore 00-10
clear silicone rubber simulating healthy tissue and Shore 16A
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