Milli-robotics for remote, minimally invasive surgery

نویسندگان

  • S. Shankar Sastry
  • Michael Cohn
  • Frank Tendick
چکیده

In this paper, we describe an ongoing collaborative research project between the Universities of California at Berkeley and San Francisco with Endorobotics Corporation to develop milli-robotic tools for remote, minimally invasive surgery. We describe the limitations of current surgical practice and then describe the technological and scientific issues involved in building a telesurgical workstation. We describe the novel techniques that we have adapted from MEMS for the design of the milli-robots, their actuators, tactile sensors and displays. We also discuss the need for modeling compliant tissue for telepresent manipulation and training. We, then, describe a test bed telesurgical workstation that has been set up at Berkeley. Animal trials are ready to commence on this surgical workstation. Finally, we do a brief review of related projects. In this paper, we describe our research program for developing tools for minimally invasive remote surgery. Key to this paper is the use of minimally invasive surgery. For urgent remote care, it is usually advisable not to cause additional trauma by an invasive operating procedure and also to keep low the possibility of infection in an incompletely sterile environment. Thus, the need for milli-robotics for this surgery and the need for new kinds of robots, tactile and visual sensors, and human-machine interfaces. While we talk primarily about general surgery in this white paper, we have the goal of eventually being able to do coronary procedures, through minimally invasive thoracoscopes. Minimally invasive surgical techniques, including endoscopy (gastrointestinal surgery), laparoscopy (abdominal surgery), arthroscopy (orthopedic surgery) and thoracoscopy (lung surgery), are revolutionizing surgery. The surgery includes a number of techniques that access internal anatomy via small incisions or orifices. Trauma to surrounding tissue is minimized, thereby reducing recovery time, risk, and costs. The advent and improvement of active optics, including fiber optics, CCD imagers, and CRT displays, has advanced the state of the art in minimally invasive surgery for procedures such as gall bladder removal

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Sensorized and Actuated Instruments for Minimally Invasive Robotic Surgery

Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can be reached with long instruments only. To overcome the drawbacks of conventional MIS robotic surgery systems with integrated haptic feedback play an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surg...

متن کامل

In Silico Investigation of a Surgical Interface for Remote Control of Modular Miniature Robots in Minimally Invasive Surgery

Aim. Modular mini-robots can be used in novel minimally invasive surgery techniques like natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single site (LESS) surgery. The control of these miniature assistants is complicated. The aim of this study is the in silico investigation of a remote controlling interface for modular miniature robots which can be used in minimall...

متن کامل

A New Robot for Minimally Invasive Surgery

Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can be reached with long instruments only. To overcome the drawbacks of manual MIS minimally invasive robotic surgery (MIRS) plays an important role. This paper takes a close look at the requirements on a MIRS system and describes the new DLR robot for MIS. This includes a discus...

متن کامل

Cad-based Simulation and Modelling for Endoscopic Surgery

INTRODUCTION The requirements of minimally invasive surgery (MIS) show a significant similarity to the conditions of teleoperation tasks in nuclear plants and other inaccessible working areas. The software package KISMET (Kinematic Simulation, Monitoring and Off-Line Programming Environment for Telerobotics) is under development at Kernforschungszentrum Karlsruhe (KfK), Germany, since 1986, for...

متن کامل

Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery – Preliminary Results of a New Approach

Minimally invasive robotic surgery (MIRS) entails total absence of haptic feedback due to the spatial separation of patient and surgeon. In conventional surgery, however, palpation to detect superficial arteries by a slight pulsation is an important, commonly applied, and security-relevant procedure. Therefore, an ultrasound based unidirectional sensor for MIRS was developed feeding back kinest...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:
  • Robotics and Autonomous Systems

دوره 21  شماره 

صفحات  -

تاریخ انتشار 1997