Design and Performance of a Surgical Tool Tracking System for Minimally Invasive Surgery

2001 ◽  
Author(s):  
Jeffrey D. Brown ◽  
Jacob Rosen ◽  
Jeff Longnion ◽  
Mika Sinanan ◽  
Blake Hannaford
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tracking System ◽  
Surgical Techniques ◽  
Surgical Robots ◽  
Motion Constraints ◽  
Surgical Tool ◽  
Recovery Times ◽  
And Performance

Abstract Minimally invasive surgery (MIS) is a technique introduced in the mid-1980s in which a few small incisions are made to allow for insertion of surgical tools and a camera through gasketed ports. Smaller incisions speed patient recovery times and lessen the chance of infection. They also introduce new interfaces as compared to more traditional open surgical techniques. These interfaces impose motion constraints and forces on the tool(s) and hand(s). These interfaces are not well characterized, yet surgical simulators and surgical robots are being developed without this vital information.

A Fully Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2011 ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Robots ◽  
Reachable Workspace ◽  
Surgical Tool ◽  
Decoupled Motion ◽  
Tool Motion

In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a critical design challenge for surgical robots. However, although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) RCM mechanism is still highly anticipated. In this paper, a 4-DOF parallel manipulator with a fully decoupled RCM is presented. First, the kinematic structure of the manipulator is described. Then, the fully decoupled motion, i.e., each of the four DOFs of the end-effector can be independently controlled by one corresponding actuated joint, is verified. Further, the inverse kinematics solutions are derived and the reachable workspace of tool tip is analyzed. As a result, the proposed manipulator is a feasible candidate for providing a fully decoupled surgical tool motion for minimally invasive surgery.

scholarly journals A learning robot for cognitive camera control in minimally invasive surgery

2021 ◽  
Author(s):  
Martin Wagner ◽  
Andreas Bihlmaier ◽  
Hannes Götz Kenngott ◽  
Patrick Mietkowski ◽  
Paul Maria Scheikl ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Autonomous Systems ◽  
Robot Kinematics ◽  
Learning Context ◽  
Surgical Robots ◽  
Camera Control ◽  
Context Sensitive ◽  
Robotic Camera

Abstract Background We demonstrate the first self-learning, context-sensitive, autonomous camera-guiding robot applicable to minimally invasive surgery. The majority of surgical robots nowadays are telemanipulators without autonomous capabilities. Autonomous systems have been developed for laparoscopic camera guidance, however following simple rules and not adapting their behavior to specific tasks, procedures, or surgeons. Methods The herein presented methodology allows different robot kinematics to perceive their environment, interpret it according to a knowledge base and perform context-aware actions. For training, twenty operations were conducted with human camera guidance by a single surgeon. Subsequently, we experimentally evaluated the cognitive robotic camera control. A VIKY EP system and a KUKA LWR 4 robot were trained on data from manual camera guidance after completion of the surgeon’s learning curve. Second, only data from VIKY EP were used to train the LWR and finally data from training with the LWR were used to re-train the LWR. Results The duration of each operation decreased with the robot’s increasing experience from 1704 s ± 244 s to 1406 s ± 112 s, and 1197 s. Camera guidance quality (good/neutral/poor) improved from 38.6/53.4/7.9 to 49.4/46.3/4.1% and 56.2/41.0/2.8%. Conclusions The cognitive camera robot improved its performance with experience, laying the foundation for a new generation of cognitive surgical robots that adapt to a surgeon’s needs.

scholarly journals Autonomy in surgical robots and its meaningful human control

2019 ◽  
Vol 10 (1) ◽  
pp. 30-43 ◽  
Author(s):  
Fanny Ficuciello ◽  
Guglielmo Tamburrini ◽  
Alberto Arezzo ◽  
Luigi Villani ◽  
Bruno Siciliano
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Case Studies ◽  
Invasive Surgery ◽  
Ethical Issues ◽  
Soft Or ◽  
Surgical Robots ◽  
Human Control ◽  
Significant Difference

AbstractThis article focuses on ethical issues raised by increasing levels of autonomy for surgical robots. These ethical issues are explored mainly by reference to state-ofart case studies and imminent advances in Minimally Invasive Surgery (MIS) and Microsurgery. In both area, surgicalworkspace is limited and the required precision is high. For this reason, increasing levels of robotic autonomy can make a significant difference there, and ethically justified control sharing between humans and robots must be introduced. In particular, from a responsibility and accountability perspective suitable policies for theMeaningfulHuman Control (MHC) of increasingly autonomous surgical robots are proposed. It is highlighted how MHC should be modulated in accordance with various levels of autonomy for MIS and Microsurgery robots. Moreover, finer MHC distinctions are introduced to deal with contextual conditions concerning e.g. soft or rigid anatomical environments.

scholarly journals An evidence-based review of enhanced recovery interventions in knee replacement surgery

2013 ◽  
Vol 95 (6) ◽  
pp. 386-389 ◽  
Author(s):  
MS Ibrahim ◽  
S Alazzawi ◽  
I Nizam ◽  
FS Haddad
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Knee Replacement ◽  
Invasive Surgery ◽  
Enhanced Recovery ◽  
Surgical Techniques ◽  
Cochrane Library ◽  
Computer Assisted ◽  
Evidence Based ◽  
Healthcare Budget

Introduction Total knee replacement (TKR) is a very common surgical procedure. Improved pain management techniques, surgical practices and the introduction of novel interventions have enhanced the patient’s postoperative experience after TKR. Safe, efficient pathways are needed to address the increasing need for knee arthroplasty in the UK. Enhanced recovery programmes can help to reduce hospital stays following knee replacements while maintaining patient safety and satisfaction. This review outlines common evidence-based pre, intra and postoperative interventions in use in enhanced recovery protocols following TKR. Methods A thorough literature search of the electronic healthcare databases (MEDLINE®, Embase™ and the Cochrane Library) was conducted to identify articles and studies concerned with enhanced recovery and fast track pathways for TKR. Results A literature review revealed several non-operative and operative interventions that are effective in enhanced recovery following TKR including preoperative patient education, pre-emptive and local infiltration analgesia, preoperative nutrition, neuromuscular electrical stimulation, pulsed electromagnetic fields, perioperative rehabilitation, modern wound dressings, different standard surgical techniques, minimally invasive surgery and computer assisted surgery. Conclusions Enhanced recovery programmes require a multidisciplinary team of dedicated professionals, principally involving preoperative education, multimodal pain control and accelerated rehabilitation; this will be boosted if combined with minimally invasive surgery. The current economic climate and restricted healthcare budget further necessitate brief hospitalisation while minimising costs. These non-operative interventions are the way forward to achieve such requirements.

Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery

2013 ◽  
Vol 198 ◽  
pp. 3-8 ◽  
Author(s):  
Roman Trochimczuk
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Forward Kinematics ◽  
Kinematic Structure ◽  
Kinematics Analysis ◽  
Medical Robot ◽  
Surgical Robots

In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

Retrieval of retained Jamshidi needle fragments during minimally invasive surgery

2011 ◽  
Vol 14 (5) ◽  
pp. 681-684 ◽  
Author(s):  
Michael Y. Wang ◽  
Spencer Block
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Pedicle Screw ◽  
Invasive Surgery ◽  
Open Surgery ◽  
Intraoperative Complications ◽  
Surgical Techniques ◽  
Spinal Fixation ◽  
Anatomical Structures ◽  
Surrounding Bone

As surgical techniques evolve, new intraoperative complications are prone to occur. With percutaneous spinal fixation, the control of implants and instruments can be a challenge when compared with open surgery, particularly if unintended instruments are retained or difficult to retrieve. In this report, the authors describe a case in which Jamshidi needle fragments broke within the vertebral body. Extraction of the fragments was accomplished using a small pedicle screw tap to first engage the retained metal and then to loosen the surrounding bone to allow retrieval and preservation of the anatomical structures needed to complete the intended operation. This technique may prove useful for the retrieval of deformable, cannulated metal pieces in minimally invasive surgery.

An integrated system of telemedicine for minimally invasive surgery

2000 ◽  
Vol 6 (2_suppl) ◽  
pp. 88-89 ◽  
Author(s):  
V Masero ◽  
F M Sanchez ◽  
J Uson
Keyword(s):  
Information System ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Surgical Techniques ◽  
Integrated System ◽  
Minimally Invasive Surgical ◽  
Integrated Information System ◽  
Integrated Information

We have developed a telemedicine project called Telesurgex, which is an integrated information system designed for several hospitals as well as the Minimally Invasive Surgery Centre. The project researches and develops telemedicine systems (both hardware and software) and their contents, ensuring that they are really useful and not just a videoconference with medical topics. Another aim of the project is the improvement of teleteaching systems as applied to medicine, mainly teleteaching of minimally invasive surgical techniques.

A Sensorized Instrument for Skills Assessment and Training in Minimally Invasive Surgery

2009 ◽  
Vol 3 (4) ◽  
Author(s):  
A. L. Trejos ◽  
R. V. Patel ◽  
M. D. Naish ◽  
A. C. Lyle ◽  
C. M. Schlachta
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tracking System ◽  
The Body ◽  
Skills Assessment ◽  
Training Methods ◽  
Laparoscopic Instrument ◽  
Rms Error ◽  
And Training

Minimally invasive surgery (MIS) is carried out using long, narrow instruments and significantly reduces trauma to the body, postoperative pain, and recovery time. Unfortunately, the restricted access conditions, limited instrument motion, and degraded sense of touch inherent in MIS result in new perceptual-motor relationships, which are unfamiliar to the surgeon and require training to overcome. Current training methods do not adequately address the needs of surgeons interested in acquiring these skills. Although a significant amount of research has been focused on the development of sensorized systems for surgery, there is still a need for a system that can be used in any training scenario (laparoscopic trainer, animal laboratories, or real surgery) for the purpose of skills assessment and training. A sensorized laparoscopic instrument has been designed that is capable of noninvasively measuring its interaction with tissue in the form of forces or torques acting in all five degrees-of-freedom (DOFs) available during MIS. Strain gauges attached to concentric shafts within the instrument allow the forces acting in different directions to be isolated. An electromagnetic tracking system is used for position tracking. Two prototypes of the sensorized instrument were constructed. Position calibration shows a maximum root mean square (RMS) error of 1.3 mm. The results of the force calibration show a maximum RMS error of 0.35 N for the actuation force, 0.07 N in the x and y directions, and 1.5 N mm for the torque calibration with good repeatability and low hysteresis. Axial measurements were significantly affected by drift, noise, and coupling leading to high errors in the readings. Novel sensorized instruments for skills assessment and training have been developed and a patent has been filed for the design and operation. The instruments measure forces and torques acting at the tip of the instrument corresponding to all five DOFs available during MIS and provide position feedback in six DOFs. The instruments are similar in shape, size, and weight to traditional laparoscopic instruments allowing them to be used in any training environment. Furthermore, replaceable tips and handles allow the instruments to be used for a variety of different tasks.

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