Robotic Surgery

2018 ◽  
Author(s):  
Alfredo M. Carbonell ◽  
Jeremy A Warren
Keyword(s):  
Robotic Surgery ◽  
Da Vinci ◽  
Incisional Hernia Repair ◽  
Clinical Situation ◽  
Single Site ◽  
Transversus Abdominis ◽  
Robotic Arms ◽  
Novel Approach ◽  
Patient Side ◽  
Surgical System

Robots have revolutionized industrial production, from automobiles to pharmaceutical manufacturing, and offer an exciting, novel approach to surgical diseases. Robots employed in surgical use initially raised some concern related to malfunction and independent action. However, the surgeon’s decision-making capability is still crucial for each surgical procedure because of the anatomic or physiologic variables of each clinical situation. Currently, surgical robots consist of instruments that are remotely manipulated by a surgeon using an electromechanical interface and represent extensions of the surgeon’s mind and hands. This review provides an overview of robotic surgery, and covers the application of robotic surgery in general surgery. Figures show the AESOP 3000 robotic arm, the da Vinci robotic surgical system, the ZEUS Surgical System, the ZEUS robotic arms,  the da Vinci Si, the da Vinci wristed endoscopic stapler, the da Vinci Xi patient side cart and robotic arms, the da Vinci Single-Site robotic instruments, and the da Vinci Single-Site port with instruments positioned and robotic arms docked. The video shows a robotic Rives-Stoppa retromuscular incisional hernia repair with bilateral transversus abdominis release.   This review contains 9 highly rendered figures, 1 video, and 85 references Key words: Robotic, surgery, hernia, inguinal, ventral, incisional, fundoplication, paraesophageal hernia, myotomy, gastrectomy, cholecystectomy, pancreatectomy, splenectomy, bariatric, adrenalectomy, colon, colectomy, colorectal  

Robotic Surgery

2018 ◽  
Author(s):  
Alfredo M. Carbonell ◽  
Jeremy A Warren
Keyword(s):  
Robotic Surgery ◽  
Da Vinci ◽  
Incisional Hernia Repair ◽  
Clinical Situation ◽  
Single Site ◽  
Transversus Abdominis ◽  
Robotic Arms ◽  
Novel Approach ◽  
Patient Side ◽  
Surgical System

Robots have revolutionized industrial production, from automobiles to pharmaceutical manufacturing, and offer an exciting, novel approach to surgical diseases. Robots employed in surgical use initially raised some concern related to malfunction and independent action. However, the surgeon’s decision-making capability is still crucial for each surgical procedure because of the anatomic or physiologic variables of each clinical situation. Currently, surgical robots consist of instruments that are remotely manipulated by a surgeon using an electromechanical interface and represent extensions of the surgeon’s mind and hands. This review provides an overview of robotic surgery, and covers the application of robotic surgery in general surgery. Figures show the AESOP 3000 robotic arm, the da Vinci robotic surgical system, the ZEUS Surgical System, the ZEUS robotic arms,  the da Vinci Si, the da Vinci wristed endoscopic stapler, the da Vinci Xi patient side cart and robotic arms, the da Vinci Single-Site robotic instruments, and the da Vinci Single-Site port with instruments positioned and robotic arms docked. The video shows a robotic Rives-Stoppa retromuscular incisional hernia repair with bilateral transversus abdominis release.   This review contains 9 highly rendered figures, 1 video, and 85 references Key words: Robotic, surgery, hernia, inguinal, ventral, incisional, fundoplication, paraesophageal hernia, myotomy, gastrectomy, cholecystectomy, pancreatectomy, splenectomy, bariatric, adrenalectomy, colon, colectomy, colorectal

scholarly journals Kinematics Based Safety Operation Mechanism for Robotic Surgery extending the JHU SAW Framework

2011 ◽  
Author(s):  
Anand Malpani ◽  
Balazs Vagvolgyi ◽  
Rajesh Kumar
Keyword(s):  
Robotic Surgery ◽  
Haptic Feedback ◽  
Situational Awareness ◽  
Da Vinci ◽  
Vision System ◽  
Da Vinci Surgical System ◽  
Knot Tying ◽  
Patient Side ◽  
Surgical System ◽  
Validation Experiments

As robotic surgery gains popularity [1, 2, 3], methods for improving situational awareness during tele- operation have become an active area of research. Literature has attempted to incorporate haptic feedback displays to enhance and improve user performance. For example, Massimino et al. [4] showed that a combi- nation of vibrotactile and auditory substitutions lead to task performance (peg-in hole task) comparable to that using a force feedback. Kitagawa et al. [5] extended this approach by using visual force displays and and auditory cues, in experiments showing comparable performance in surgical tasks (knot-tying). Reiley et al. [6] used a visual force display in a teleoperated knot-tying task to demonstrate lower forces and reduced suture breakage by trainees. The above art demonstrates the need for information overlays in telerobotic surgical tasks. However, this literature also used prototype software and tools intended only for the specic experiments. By contrast, we use the Surgical Assistant Workstation (SAW) [7, 8] in development at Johns Hopkins University to create a general information overlay, and demonstrate its utility by creating a visual warning display for telerobotic surgery that detects instruments being operated outside of the eld of view of the endoscopic camera. SAW is a modular framework for rapid prototyping of new tools and methods for robotic surgery. It includes methods for image guidance, registration with pre-operative and intra-operative images, and ability to interact with the graphical objects rendered within the display with the master or slave manipulators in a teleoperation environment. The common telesurgical system in use is the da Vinci Surgical System (Intuitive Surgical Inc.). It consists of a surgeon’s console containing the two master manipulators, a patient side cart with up to four robotic arms - three for the slave instrument manipulators which can be equipped with the removable instruments and an endoscope camera manipulator connected to a high-performance stereo vision system. The da Vinci also provides a research and development application programming interface (DiMaio, et al., [9]) that streams kinematics data and system events at congurable rates of up to 100Hz. The SAW/cisst framework also contains an interface to the da Vinci API. We present an overlay architecture (Figure 1) implemented using the cisst/SAW libraries to integrate contextual procedure and system information for improving safety, and situational awareness during these delicate and complex manipulations. While the presented methods can be modied for use with any robotic system, we used our da Vinci S Surgical System (Intuitive Surgical Inc.) for the validation experiments (Figure 2) here. Results from validation experiments with 17 users and a total of 50 training sessions totaling 214350 image frames are presented.

Feasibility of Reduced-Port Robotic Surgery for Myomectomy with the da Vinci Surgical System

2017 ◽  
Vol 24 (6) ◽  
pp. 926-931 ◽  
Author(s):  
Jeong Jin Kim ◽  
Chahien Choi ◽  
Su Hyun Nam ◽  
Woo Young Kim
Keyword(s):  
Robotic Surgery ◽  
Da Vinci ◽  
Da Vinci Surgical System ◽  
Reduced Port ◽  
Vinci Surgical System ◽  
Surgical System

FEASIBILITY STUDY OF INTRAOCULAR ROBOTIC SURGERY WITH THE da VINCI SURGICAL SYSTEM

Retina ◽  
2008 ◽  
Vol 28 (1) ◽  
pp. 154-158 ◽  
Author(s):  
DAN H. BOURLA ◽  
JEAN PIERRE HUBSCHMAN ◽  
MARTIN CULJAT ◽  
ANGELO TSIRBAS ◽  
ANURAG GUPTA ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Feasibility Study ◽  
Da Vinci ◽  
Da Vinci Surgical System ◽  
Vinci Surgical System ◽  
Surgical System

Load evaluation of the da Vinci surgical system for transoral robotic surgery

2015 ◽  
Vol 9 (4) ◽  
pp. 315-319 ◽  
Author(s):  
Kazunori Fujiwara ◽  
Takahiro Fukuhara ◽  
Koji Niimi ◽  
Takahiro Sato ◽  
Hiroya Kitano
Keyword(s):  
Robotic Surgery ◽  
Da Vinci ◽  
Transoral Robotic Surgery ◽  
Da Vinci Surgical System ◽  
Vinci Surgical System ◽  
Load Evaluation ◽  
Surgical System

scholarly journals Automation of Suturing Path Generation for da Vinci-Like Surgical Robotic Systems

2018 ◽  
Author(s):  
Hossein Dehghani ◽  
Shane Farritor ◽  
Dmitry Oleynikov ◽  
Benjamin Terry
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Da Vinci ◽  
Robotic Arms ◽  
Patient Pain ◽  
Motion Scaling ◽  
Hand Coordination ◽  
Patient Side ◽  
Tissue Trauma

Minimally invasive surgery (MIS) has substantially improved surgery by reducing patient pain, discomfort, and tissue trauma [1]. MIS, however, has shortcomings including limited workspace, reduced surgeon’s dexterity, and poor eye-hand coordination [2]. Robot-assisted minimally invasive surgery (RMIS) has aimed to mitigate these limitations [3]. The da Vinci® Surgical System (Intuitive Surgical, Inc., Sunnyvale, CA) is the-state-of-the-art RMIS, in which the surgeon operates by using the console’s master controllers to maneuver the patient-side robotic arms, where the surgeon’s hand movements are refined through motion scaling and tremor reduction. Over half a million procedures are performed using the da Vinci annually [4].

Docking of the da Vinci Si Surgical System® with single-site technology

2013 ◽  
Vol 9 (1) ◽  
pp. 12-16 ◽  
Author(s):  
Pouya Iranmanesh ◽  
Philippe Morel ◽  
Nicolas C. Buchs ◽  
François Pugin ◽  
Francesco Volonte ◽  
...  
Keyword(s):  
Da Vinci ◽  
Single Site ◽  
Da Vinci Si ◽  
Surgical System

scholarly journals Remote Presence: Development and Usability Evaluation of a Head-Mounted Display for Camera Control on the da Vinci Surgical System

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 31 ◽  
Author(s):  
Tareq Dardona ◽  
Shahab Eslamian ◽  
Luke A. Reisner ◽  
Abhilash Pandya
Keyword(s):  
Da Vinci ◽  
Control Method ◽  
Mental Workload ◽  
Head Movements ◽  
Da Vinci Surgical System ◽  
Camera Control ◽  
Head Mounted Display ◽  
Novel Approach ◽  
Extended Operation ◽  
Surgical System

This paper describes the development of a new method to control the camera arm of a surgical robot and create a better sense of remote presence for the surgeon. The current surgical systems are entirely controlled by the surgeon, using hand controllers and foot pedals to manipulate either the instrument or the camera arms. The surgeon must pause the operation to move the camera arm to obtain a desired view and then resume the operation. The camera and tools cannot be moved simultaneously, leading to interrupted and unnatural movements. These interruptions can lead to medical errors and extended operation times. In our system, the surgeon controls the camera arm by his natural head movements while being immersed in a 3D-stereo view of the scene with a head-mounted display (HMD). The novel approach enables the camera arm to be maneuvered based on sensors of the HMD. We implemented this method on a da Vinci Standard Surgical System using the HTC Vive headset along with the Unity engine and the Robot Operating System framework. This paper includes the result of a subjective six-participant usability study that compares the workload of the traditional clutched camera control method against the HMD-based control. Initial results indicate that the system is usable, stable, and has a lower physical and mental workload when using the HMD control method.

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