Al-Zahrawi: A Telesurgical Robotic System for Minimal Invasive Surgery

Hassan, Taimoor; Hameed, Asad; Nisar, Sajid; Kamal, Nabeel; Hasan, Osman

doi:10.1109/jsyst.2014.2331146

Cited by 23 publications

(10 citation statements)

References 13 publications

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“…In telerobotic systems with multiple arms it is common that one of them is dedicated to holding and manipulating the laparoscopic camera. Such a setting is also found on the Al-Zahrawi system [ 65 ], which is composed of two separate parts, the master console and the slave system. They interact via an RS485 interface communication link.…”

Section: Short-distance Telerobotic Systemsmentioning

confidence: 95%

Medical telerobotic systems: current status and future trends

et al. 2016

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Teleoperated medical robotic systems allow procedures such as surgeries, treatments, and diagnoses to be conducted across short or long distances while utilizing wired and/or wireless communication networks. This study presents a systematic review of the relevant literature between the years 2004 and 2015, focusing on medical teleoperated robotic systems which have witnessed tremendous growth over the examined period. A thorough insight of telerobotics systems discussing design concepts, enabling technologies (namely robotic manipulation, telecommunications, and vision systems), and potential applications in clinical practice is provided, while existing limitations and future trends are also highlighted. A representative paradigm of the short-distance case is the da Vinci Surgical System which is described in order to highlight relevant issues. The long-distance telerobotics concept is exemplified through a case study on diagnostic ultrasound scanning. Moreover, the present review provides a classification into short- and long-distance telerobotic systems, depending on the distance from which they are operated. Telerobotic systems are further categorized with respect to their application field. For the reviewed systems are also examined their engineering characteristics and the employed robotics technology. The current status of the field, its significance, the potential, as well as the challenges that lie ahead are thoroughly discussed.

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Section: Short-distance Telerobotic Systemsmentioning

confidence: 95%

Medical telerobotic systems: current status and future trends

et al. 2016

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“…By encoding the force, position, and trajectory information from the observations with the GMM method, a GMR algorithm was used to generate the task model based on PED. In [109], a telesurgical robot named A1-Zahrawi was designed for minimal invasive surgery (MIS). The designed surgical robot employed a double parallelogram mechanism (DPM) for the achievement of a remote centre of motion.…”

Section: Microsurgerymentioning

confidence: 99%

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Luo

Yang

2020

Cognitive Computation and Systems

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Teleoperation provides a promising way for human-robot collaboration in the unknown or unstructured environments to perform a cooperative task. It enables humans to complete a task at a remote side and combines both the human's intelligence and the robots' capabilities in a collaborative task. Therefore, it is necessary to conduct cross researches in terms of robotics, artificial intelligence, sensors, and mechatronics. This study covers the state-of-the-arts research in terms of perception, control, and learning. In this review, key technologies about information perception mechanism, control algorithms, human-robot interface, and robot learning strategies for teleoperation are introduced. Then, a comprehensive survey is summarised in representative applications in teleoperation, and the existing challenges and potential directions of the development are discussed.

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“…The minimally invasive surgery and therapy is a cutting-edge technology that revolutionized modern medical surgery, which has the advantages of small trauma, light pain, quick recovery, small complication, and low infection risk, compared with traditional surgery. 1–3 It can be done manually by doctors or together with assisted robot. 4 Because manual insertion relies heavily on the attending physician’s extensive experience and professional skill, and especially with the unstable insertion velocity and orientation varies during clinical procedures, 5 robot-assisted insertion has received increasing attention recently, and also has been widely used in many fields of minimally invasive surgery, 6–8 such as extracranial or thoracic, urology, and orthopedics.…”

Section: Introductionmentioning

confidence: 99%

Experimental study of the optimum puncture pattern of robot-assisted needle insertion into hyperelastic materials

Wang

Zhao

et al. 2020

Proc Inst Mech Eng H

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The robot-assisted insertion surgery plays a crucial role in biopsy and therapy. This study focuses on determining the optimum puncture pattern for robot-assisted insertion, aiming at the matching problem of needle insertion parameters, thereby to reduce the pain for patients and to improve the reachability to the lesion point. First, a 6-degrees of freedom (DOFs) Computed Tomography (CT)-guided surgical robotic system for minimally invasive percutaneous lung is developed and used to perform puncture experiments. The effects of four main insertion factors on the robotic puncture are verified by designing the orthogonal test, where the inserting object is the artificial skin-like specimen with high transparent property and a digital image processing method is used to analyze the needle tip deflection. Next, the various phases of puncture process are divided and analyzed in detail in view of the tissue deformation and puncture force. Then, short discussion on the comparison of puncture force with different effect factors for the same beveled needle is presented. The same pattern can be observed for all of the cases. Finally, based on the experimental data, the formulations of the puncture force and needle deflection which depends on Gauge size, insertion velocity, insertion angle, and insertion depth are developed using the multiple regression method, which can be used to get an optimum puncture pattern under the constrains of minimum peak force and minimum needle tip deflection. The developed models have the effectiveness and applicability on determining the optimum puncture pattern for one puncture event, and which can also provide insights useful for the setting of insertion parameters in clinical practice.

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Al-Zahrawi: A Telesurgical Robotic System for Minimal Invasive Surgery

Cited by 23 publications

References 13 publications

Medical telerobotic systems: current status and future trends

Medical telerobotic systems: current status and future trends

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Experimental study of the optimum puncture pattern of robot-assisted needle insertion into hyperelastic materials

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