A Robotic Approach to Stereotactic Radio-Surgery

Volume 3 ◽  
2004 ◽  
Author(s):  
Aldo Rossi ◽  
Alberto Trevisani ◽  
Alessandro Gasparetto ◽  
Vanni Zanotto
Keyword(s):  
Minimally Invasive ◽  
Force Feedback ◽  
Robotic System ◽  
Load Cell ◽  
Dose Delivery ◽  
Clinical Tests ◽  
Robotic Approach ◽  
Great Precision ◽  
X Ray

The aim of this paper is to present a new robotic system for minimally invasive radio surgery. The system is called DAANS and is used to move a new miniaturized x-ray source called PRS with great precision and repeatability. By means of the DAANS the PRS dose delivery center can be moved linearly along the emission axis and rotated about the same axis. Moreover the DAANS is provided with a load cell which measures the force, along the emission axis, exerted by the PRS on a patient’s tissues, and which allows generating an appropriate force feedback on a specifically developed haptic console. The system is now being manufactured and will soon be employed in clinical tests.

scholarly journals Minimally invasive transoral robotic surgery for hiloparenchymal submandibular stone: technical note on Flex Robotic System

2021 ◽  
Author(s):  
Pasquale Capaccio ◽  
Giuseppe Riva ◽  
Raffaella Cammarota ◽  
Michele Gaffuri ◽  
Giancarlo Pecorari
Keyword(s):  
Robotic Surgery ◽  
Minimally Invasive ◽  
Submandibular Gland ◽  
Transoral Robotic Surgery ◽  
Technical Note ◽  
Robotic System ◽  
Minimally Invasive Technique ◽  
Invasive Technique ◽  
Robotic Approach ◽  
System A

We described a minimally invasive technique for transoral removal of deep hiloparenchymal submandibular stones by Flex Robotic System; a step-by-step description of the transoral robotic approach to submandibular gland through a discrete incision of the oral floor is narrated. This approach guaranteed the preservation of the gland, minimizing complications.

scholarly journals A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 640
Author(s):  
Linshuai Zhang ◽  
Shuoxin Gu ◽  
Shuxiang Guo ◽  
Takashi Tamiya
Keyword(s):  
Collision Detection ◽  
Endovascular Procedures ◽  
Force Feedback ◽  
Force Measurement ◽  
Occupational Hazards ◽  
Robot Assisted ◽  
X Ray ◽  
Surgical Safety ◽  
Surgical Tool ◽  
Haptic Cues

A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

scholarly journals Force Feedback Plays a Significant Role in Minimally Invasive Surgery

2005 ◽  
Vol 241 (1) ◽  
pp. 102-109 ◽  
Author(s):  
Gregory Tholey ◽  
Jaydev P. Desai ◽  
Andres E. Castellanos
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Significant Role ◽  
Invasive Surgery ◽  
Force Feedback

Real-Time 2D Surface Profile Mapping of Biological Tissue with Force Feedback in Robot-Assisted Minimally Invasive Surgery

2015 ◽  
Vol 798 ◽  
pp. 319-323
Author(s):  
Ali Reza Hassan Beiglou ◽  
Javad Dargahi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Strain Gauge ◽  
Force Feedback ◽  
Surface Profile ◽  
Robot Assisted ◽  
Contact Points ◽  
Force Signal

It has been more than 20 years that robot-assisted minimally invasive surgery (RMIS) has brought remarkable accuracy and dexterity for surgeons along with the decreasing trauma for the patients. In this paper a novel method of the tissue’s surface profile mapping is proposed. The tissue surface profile plays an important role for material identification during RMIS. It is shown how by integrating the force feedback into robot controller the surface profile of the tissue can be obtained with force feedback scanning. The experiment setup includes a 5 degree of freedoms (DOFs) robot which is equipped with a strain-gauge ball caster as the force feedback. Robot joint encoders signals and the captured force signal of the strain-gauge are transferred to developed surface transformation algorithm (STA). The real-time geometrical transformation process is triggered with force signal to identify contact points between the ball caster and the artificial tissue. The 2D surface profile of tissue will be mapped based on these contact points. Real-time capability of the proposed system is evaluated experimentally for the artifical tissues in a designed test rig.

scholarly journals TREATMENT OF COMPLICATIONS OF HIGH EZOPHAGOGASTROPLASTICS USING MINIMALLY INVASIVE ROENTGENENDOSCOPIC METHODS

2020 ◽  
pp. 31-35
Author(s):  
M. M. Veligotsky ◽  
O. V. Gorbulich ◽  
G. M. Ursol ◽  
V. V. Komarchuk ◽  
K. E. Shamoun
Keyword(s):  
Minimally Invasive ◽  
Fatal Case ◽  
Functional Results ◽  
Thoracic Esophagus ◽  
Functional Disorders ◽  
X Ray ◽  
Endoscopic Techniques ◽  
Surgical Tactics ◽  
Upper Thoracic ◽  
Video Control

Summary. The most formidable early postoperative complications of Lewis esophagogastroplasty (EGP) is the failure of esophagogastroanastomosis (EGA), and in the late period — stricture of EGA, in some patients there are functional disorders. The aim of the study. Assess the treatment of complications of EGP using minimally invasive methods. Materials and methods: The results of 150 operations for cancer of the middle and upper thoracic esophagus with the imposition of high EGA were analyzed (65 used cervical EGP). X-ray endoscopic techniques are used to treat patients with complications. The functional results of EGP using esophageal manometry and pHZ monitoring were also evaluated. Results and discussion. When applying EGA on the neck was significantly higher incidence of failure of the anastomotic sutures, which was associated with impaired blood supply with increasing length of the graft. Surgical tactics in case of failure of the EGA on the neck was to open and drain the deep space of the neck, conducting a transnasal tube for feeding into the stomach — there were no fatalities. Surgical tactics in case of failure of intrapleural EGA, which took place in 4 cases, consisted of drainage of the empyema cavity and conducting a transnasal tube for nutrition in the initial parts of the small intestine under X-ray video surveillance. In the treatment of failure of intrathoracic anastomoses there was 1 fatal case. At strictures of EGA which took place at 24 patients, performed balloon dilatations under X-ray video control. In 2 patients with the phenomena of pylorospasm performed balloon dilatation of the pyloric pulp under X-ray video control. In general, patients who underwent EGP showed good and satisfactory functional results, but in some patients there were functional disorders that were transient in nature. Conclusions: The use of clinically developed methods of esophagogastroplasty can reduce the number of failures and strictures of anastomoses. At insufficiency and strictures of an esophagogastroanastomosis, and also at a hypertonia of pyloric pulp X-ray endoscopic methods are highly effective and low-traumatic.

Sign in / Sign up

Export Citation Format

Share Document