INVESTIGATION OF THE ESSENTIALS FOR INTEGRATING OFF-THE-SHELF INDUSTRIAL ROBOTICS IN PRECISE COMPUTER-ASSISTED SURGERY

2011 ◽  
Vol 11 (05) ◽  
pp. 1113-1123 ◽  
Author(s):  
HONGLIANG REN ◽  
MAX Q.-H. MENG
Keyword(s):  
Robotic Surgery ◽  
Surgical Planning ◽  
Computer Assisted Surgery ◽  
Industrial Robots ◽  
Guidance System ◽  
Planning System ◽  
Computer Assisted ◽  
Industrial Robotics ◽  
Good Repeatability ◽  
Surgical Operations

Off-the-shelf industrial robotic technologies have achieved significant advancements in the past several decades in terms of mechanics and automation performances. We are expecting to take advantage of the industrial robots for assisting surgeons in surgeries and quick prototyping a robotic surgery system. In precise computer-assisted surgeries (CASs), such as pelvic-acetabular surgery, eye surgery, or neurosurgery, it is extremely important to position the tools accurately and precisely for surgical operations. Some of the industrial robotics arms are able to achieve good repeatability and dexterity while positioning the surgical tools. To enable the application of industrial robots in the surgical rooms, there are several other essential modules to be integrated to the robotic surgery systems, such as real-time navigation system, surgical planning system, and surgeon-guidance system. In this paper, we review the existing studies on the medical robots including the ones using industrial robots, and then investigate the essentials for using industrial robots in computer-integrated surgery.

scholarly journals Preoperative Computer-Assisted Laparoscopy Planning for the Minimally Invasive Surgical Repair of Hiatal Hernia

Diagnostics ◽  
2020 ◽  
Vol 10 (9) ◽  
pp. 621
Author(s):  
Silviu Daniel Preda ◽  
Cătălin Ciobîrcă ◽  
Gabriel Gruionu ◽  
Andreea Șoimu Iacob ◽  
Konstantinos Sapalidis ◽  
...  
Keyword(s):  
Hiatal Hernia ◽  
Surgical Planning ◽  
Elevation Angle ◽  
Access Point ◽  
Skin Incision ◽  
Postoperative Recovery ◽  
Minimal Invasive ◽  
Planning System ◽  
Whole Body ◽  
Computer Assisted

Minimal invasive surgical procedures such as laparoscopy are preferred over open surgery due to faster postoperative recovery, less trauma and inflammatory response, and less scarring. Laparoscopic repairs of hiatal hernias require pre-procedure planning to ensure appropriate exposure and positioning of the surgical ports for triangulation, ergonomics, instrument length and operational angles to avoid the fulcrum effect of the long and rigid instruments. We developed a novel surgical planning and navigation software, iMTECH to determine the optimal location of the skin incision and surgical instrument placement depth and angles during laparoscopic surgery. We tested the software on five cases of human hiatal hernia to assess the feasibility of the stereotactic reconstruction of anatomy and surgical planning. A whole-body CT investigation was performed for each patient, and abdominal 3D virtual models were reconstructed from the CT scans. The optical trocar access point was placed on the xipho-umbilical line. The distance on the skin between the insertion point of the optical trocar and the xiphoid process was 159.6, 155.7, 143.1, 158.3, and 149.1 mm, respectively, at a 40° elevation angle. Following the pre-procedure planning, all patients underwent successful surgical laparoscopic procedures. The user feedback was that planning software significantly improved the ergonomics, was easy to use, and particularly useful in obese patients with large hiatal defects where the insertion points could not be placed in the traditional positions. Future studies will assess the benefits of the planning system over the conventional, empirical trocar positioning method in more patients with other surgical challenges.

scholarly journals Modular design of versatile surgical mini-robots

2018 ◽  
Vol 4 (1) ◽  
pp. 411-414 ◽  
Author(s):  
Lukas Theisgen ◽  
Matías de la Fuente ◽  
Klaus Radermacher
Keyword(s):  
Modular Design ◽  
Computer Assisted Surgery ◽  
Industrial Robots ◽  
Computer Assisted ◽  
Inherent Safety ◽  
Surgical Robots ◽  
Path Control ◽  
Control Scheme ◽  
Key Factor ◽  
Computer Based

AbstractSurgical robots have been introduced in the field of Computer Assisted Surgery (CAS) to assist the surgeon by providing an accurate link between the computer-based plan and the exact (a) positioning or (b) dynamic path control of an instrument on the operating site respectively. Whereas initial systems mostly have been based on an active supervisory control scheme of industrial robots with large universal workspaces, later on specialized miniaturized kinematics have been proposed, with restricted workspaces adapted to specific applications in order to ease handling and provide inherent safety properties. However, this specialization resulted in even narrower fields of application, low quantities and higher costs. Modularization seems to be a key factor to combine the benefits of both approaches. In this paper two modular robotic solutions, validated in the context of their purpose, are analysed regarding their modular design. Based on this, the potential of modularity for instrument guiding tasks in surgery is discussed.

scholarly journals Application of Computer-assisted Surgery in Urology

2021 ◽  
pp. 140-149
Author(s):  
Umar Shaikhaevich Tasukhanov ◽  
Natalya Aleksandrovna Kuzbetsova ◽  
Rukiyat Shamilevna Abdulaeva ◽  
Diana Tamerlanovna Kachmazova ◽  
Artem Evgenevich Mishvelov ◽  
...  
Keyword(s):  
Treatment Plan ◽  
Educational Practice ◽  
Computer Assisted Surgery ◽  
Scientific Article ◽  
Computer Assisted ◽  
Medical Specialties ◽  
Hardware Complex ◽  
Software And Hardware ◽  
Anatomical Atlas ◽  
Surgical Operations

The purpose of this scientific article is to show the possibility of using the HoloDoctor software and hardware complex, which includes the following modules: the anatomical atlas module, the data analysis module and the surgical intervention simulation module. HoloDoctor allows us to perform surgical operations in real time. The time of operations using the HoloDoctor is reduced by 20-30% compared to traditional methods. The developed complex provides diagnostics of treatment planning, correction of the treatment plan, minimizing the risk of medical error. The developed product can be used in educational practice by introducing it into educational programs of medical specialties.

scholarly journals Knowledge Acquisition and Construction of a RDF-Ontology for Computer-Assisted Surgery

2021 ◽  
Author(s):  
Niclas Hagen ◽  
Reinald Kühle ◽  
Frederic Weichel ◽  
Urs Eisenmann ◽  
Petra Knaup-Gregori ◽  
...  
Keyword(s):  
Knowledge Acquisition ◽  
Maxillofacial Surgery ◽  
Computer Assisted Surgery ◽  
Mandibular Reconstruction ◽  
University Hospital ◽  
Planning System ◽  
Oral And Maxillofacial Surgery ◽  
Computer Assisted ◽  
Planning Systems ◽  
Virtual Planning

The integration of surgical knowledge into virtual planning systems plays a key role in computer-assisted surgery. The knowledge is often implicitly contained in the implemented algorithms. However, a strict separation would be desirable for reasons of maintainability, reusability and readability. Along with the Department of Oral and Maxillofacial Surgery at Heidelberg University Hospital, we are working on the development of a virtual planning system for mandibular reconstruction. In this work we describe a process for the structured acquisition and representation of surgical knowledge for mandibular reconstruction. Based on the acquired knowledge, an RDF(S) ontology was created. The ontology is connected to the virtual planning system via a SPARQL interface. The described process of knowledge acquisition can be transferred to other surgical use cases. Furthermore, the developed ontology is characterised by a reusable and easily expandable data model.

scholarly journals Computer-assisted surgery and navigation in foot and ankle: state of the art and fields of application

2021 ◽  
Vol 6 (7) ◽  
pp. 531-538
Author(s):  
Halah Kutaish ◽  
Antoine Acker ◽  
Lisca Drittenbass ◽  
Richard Stern ◽  
Mathieu Assal
Keyword(s):  
Real Time ◽  
Intraoperative Imaging ◽  
Computer Assisted Surgery ◽  
Guidance System ◽  
Computer Assisted ◽  
Foot And Ankle ◽  
Complex Anatomy ◽  
Ankle Surgery ◽  
Wide Range ◽  
Computer Assisted Orthopaedic Surgery

Computer-assisted orthopaedic surgery (CAOS) is a real-time navigation guidance system that supports surgeons intraoperatively. Its use is reported to increase precision and facilitate less-invasive surgery. Advanced intraoperative imaging helps confirm that the initial aim of surgery has been achieved and allows for immediate adjustment when required. The complex anatomy of the foot and ankle, and the associated wide range of challenging procedures should benefit from the use of CAOS; however, reports on the topic are scarce. This article explores the fields of applications of real-time navigation and CAOS in foot and ankle surgery. Cite this article: EFORT Open Rev 2021;6:531-538. DOI: 10.1302/2058-5241.6.200024

Computer-Assisted Surgery in Craniomaxillofacial Surgery

Skull Base ◽  
2005 ◽  
Vol 15 (S 2) ◽  
Author(s):  
Ralf Gutwald ◽  
R. Schön ◽  
M. Metzger ◽  
C. Zizelmann ◽  
N.-C. Gellrich ◽  
...  
Keyword(s):  
Computer Assisted Surgery ◽  
Computer Assisted ◽  
Craniomaxillofacial Surgery

Accuracy and Practicability of Different Referencing Methods in Computer-Assisted Surgery of the Lateral Skull Base

Skull Base ◽  
2007 ◽  
Vol 16 (04) ◽  
Author(s):  
Klaus Stelter ◽  
Christoph Matthias ◽  
Kathrin Spiegl ◽  
Christian Lübbers ◽  
Andreas Leunig ◽  
...  
Keyword(s):  
Skull Base ◽  
Computer Assisted Surgery ◽  
Computer Assisted ◽  
Lateral Skull Base
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