While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.
-Minimally invasive surgery (MIS) challenges the surgeon's skills due to his separation from the operation area which can only be reached with long instruments. To overcome these drawbacks, minimally invasive robotic surgery (MIRS) plays an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surgery which help to increase the surgeon's immersion and dexterity.
Abstract-This video presents the in-house developed DLR MiroSurge robotic system for surgery. As shown, the system is suitable for both minimally invasive and open surgery. Essential part of the system is the MIRO robot: The soft robotics feature enables intuitive interaction with the robot. In the presented minimally invasive robotic setup three MIROs guide an endoscopic stereo camera and two endoscopic instruments with force feedback sensors. The master console for teleoperation consists of an autostereoscopic monitor and force reflecting input devices for both hands. Versatility is shown with two additional applications: For assistance in manual minimally invasive surgery a MIRO robot automatically guides the endoscope such that the surgical instrument is always in view. In a biopsy application the MIRO robot is positioning the needle with navigation system support.
In minimally invasive surgery (MIS) the patient's skin forms a spatial barrier between the operation area and the surgeon. This prevents direct access to the operation site which causes a lack of dexterity and limits the sensation of tissue manipulation forces, therefore complicating MIS procedures significantly. A telepresence approach can overcome these limitations: Additional degrees of freedom (DoF) inside the patient provide full manipulability and force torque sensors at the distal end of the instrument allow precise measurement of interaction forces. Using a suitable man-machine interface and free cartesian motion kinaesthetic feedback can be achieved, thus providing a virtual open surgery environment to the surgeon. This article focuses on the development and first results of actuated and sensor integrated instruments as part of the DLR minimally invasive robotic surgery (MIRS) setup. The instruments as a front-end part of the MIRS setup form one base of a telepresence working environment and are crucial for semi-autonomous functions, e.g. motion compensation.
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