Applications of micromechatronics in minimally invasive surgery

Tendick, F.; Sastry, S.S.; Fearing, R.S.; Cohn, M.

doi:10.1109/3516.662866

Cited by 97 publications

(39 citation statements)

References 52 publications

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“…From the point of view of a surgeon, minimally invasive surgery is minimal access surgery [13]. Reduced access reduces dexterity, limits perception, increases strain and the likelihood of error, and lengthens procedure times [2,5,13].…”

Section: Methodsmentioning

confidence: 99%

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Miniature robots can assist in Laparoscopic cholecystectomy

et al. 2005

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Laparoscopy reduces patient trauma but eliminates the surgeon's ability to directly view and touch the surgical environment. Although current robot-assisted laparoscopy improves the surgeon's ability to manipulate and visualize the target organs, the instruments and cameras remain constrained by the entry incision. This limits tool tip orientation and optimal camera placement. This article focuses on developing miniature in vivo robots to assist surgeons during laparoscopic surgery by providing an enhanced field of view from multiple angles and dexterous manipulators not constrained by the abdominal wall fulcrum effect. Miniature camera robots were inserted through a small incision into the insufflated abdominal cavity of an anesthetized pig. Trocar insertion and other laparoscopic tool placements were then viewed with these robotic cameras. The miniature robots provided additional camera angles that improved surgical visualization during a cholecystectomy. These successful prototype trials have demonstrated that miniature in vivo robots can provide surgeons with additional visual information that can increase procedural safety.

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Section: Methodsmentioning

confidence: 99%

“…Reduced access reduces dexterity, limits perception, increases strain and the likelihood of error, and lengthens procedure times [2,5,13]. The operative field is visualized through an electronic interface, and tissue manipulation is performed with long instruments that impose severe ergonomic limitations [5].…”

Section: Methodsmentioning

confidence: 99%

Miniature robots can assist in Laparoscopic cholecystectomy

et al. 2005

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“…It is surgery performed from a distance. From the point of view of a surgeon, MIS is minimal access surgery [2]. Reduced access limits perception, increases strain and the likelihood of error, and lengthens procedure times [2][3][4].…”

Section: Introductionmentioning

confidence: 99%

“…From the point of view of a surgeon, MIS is minimal access surgery [2]. Reduced access limits perception, increases strain and the likelihood of error, and lengthens procedure times [2][3][4]. The operative field is visualized through an electronic interface, and tissue manipulation is performed with long instruments that impose severe ergonomic limitations [4].…”

Section: Introductionmentioning

confidence: 99%

In vivo camera robots provide improved vision for laparoscopic surgery

Oleynikov¹,

Rentschler

Hadzialic

et al. 2004

International Congress Series

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“…Though initially limited to specific kinds of operations, MIS has now become a standard and widely used surgical procedure, replacing most of the traditional open-surgery procedures [Tendick et al 1998]. MIS has substantial benefits over traditional open surgeries, which require large incisions to allow the surgeon access to perform procedures at the operation site [Carrozza et al 2003].…”

Section: Introductionmentioning

confidence: 99%

An endoscopic grasper with corrugated plate-shaped tactile sensors

Qasaimeh

Ramezanifard

Dargahi

2009

JOMMS

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One of the major weaknesses in current endoscopic surgery is the lack of tactile feedback. This paper reports on the design, finite element modeling, and experimental testing of a corrugated tactile sensor. The sensor, a miniaturized and modified form of our previously developed tactile sensor, consists of a 75 µm plate-shaped silicon layer and a 25 µm polyvinylidene fluoride (PVDF) film, patterned on both sides using photolithographic techniques to form three independent sensing elements. The sensor is 15 mm long, 7.5 mm wide, and approximately 3 mm thick, which could make it versatile enough for integration with current endoscopic and medical robotics manipulators. The silicon layer is micromachined in such a way that a U-channel is formed. When a force is applied on the tactile sensor, output voltages from the patterned PVDF-sensing elements are combined to obtain tactile information. Results show that the sensor exhibits high sensitivity and can measure small dynamic loads, comparable to a human pulse, as well as large grasping forces. In addition to measuring the magnitude and position of the applied load, the sensor can determine the modulus of elasticity of the grasped object.

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Applications of micromechatronics in minimally invasive surgery

Cited by 97 publications

References 52 publications

Miniature robots can assist in Laparoscopic cholecystectomy

Miniature robots can assist in Laparoscopic cholecystectomy

In vivo camera robots provide improved vision for laparoscopic surgery

An endoscopic grasper with corrugated plate-shaped tactile sensors

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