Dexterity-enhanced telerobotic microsurgery

Charles, Steve; Das, H.; Ohm, Timothy R.; Boswell, C.; Rodríguez, G.; Steele, Robert David; Istrate, Dan

doi:10.1109/icar.1997.620154

Cited by 70 publications

(44 citation statements)

References 6 publications

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“…The configuration control and user-interface software subsystem reads inputs from a GUI and sets the appropriate configuration parameters on the RAMS system, computes the kinematics and high-level control functions, and determines the signals with which to drive the master and slave arms. The engineering design of the RAMS system has been reported with greater detail by Charles et al 4 A photograph of the RAMS system is shown in Figure 3.…”

Section: Telemanipulator System Descriptionmentioning

confidence: 97%

“…2 Their use as tools to help surgeons in microsurgery is a relatively recent concept. 5,18 The Robot Assisted MicroSurgery (RAMS) system 4,13,14 evaluated in this article allows a surgeon to command motions for a surgical instrument using an input device that precisely measures his hand motions in six degrees of freedom. The mea-surements are read into a computational subsystem where they are transformed then used to drive a six-degrees-of-freedom robot that holds a surgical instrument.…”

Section: Introductionmentioning

confidence: 99%

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Evaluation of a telerobotic system to assist surgeons in microsurgery

Das

Zak

Johnson

et al. 1999

Comput. Aided Surg.

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A tool was developed that assists surgeons in manipulating surgical instruments more precisely than is possible manually. The tool is a telemanipulator that scales down the surgeon's hand motion and filters tremor in the motion. The signals measured from the surgeon's hand are transformed and used to drive a six-degrees-of-freedom robot to position the surgical instrument mounted on its tip. A pilot study comparing the performance of the telemanipulator system against manual instrument positioning was conducted at the University of Southern California School of Medicine. The results show that a telerobotic tool can improve the performance of a microsurgeon by increasing the precision with which he can position surgical instruments, but this is achieved at the cost of increased time in performing the task. We believe that this technology will extend the capabilities of microsurgeons and allow more surgeons to perform highly skilled procedures currently performed only by the best surgeons. It will also enable performance of new surgical procedures that are beyond the capabilities of even the most skilled surgeons.

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Section: Telemanipulator System Descriptionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Evaluation of a telerobotic system to assist surgeons in microsurgery

Das

Zak

Johnson

et al. 1999

Comput. Aided Surg.

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“…Development of experimental systems for microsurgery started in the late 90s. Examples include master-slave systems such as the Robot-Assisted MicroSurgery (RAMS) workstation [132], NeuRobot [133] and cooperative type robots like the steady-hand eye robot [134]. Among special microsurgical applications, ophthalmic microsurgery, such as vitreo-retinal surgery, are very demanding procedures due to extremely small cutting forces and minute workspace that require advanced surgical skills that are near, if not beyond, human capabilities [135].…”

Section: E Microsurgical Tasksmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

191

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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“…This system was a spherical micromanipulator attached to a 3D stage with 6DOF motion [5]. Charles et al introduced an eye surgery robot (RAMS) in 1997, a 6DOF serial manipulator in master-slave configuration with a precision of about 10µm [6]. Since 1997 a few robotic research groups are active within the domain of ophthalmic surgery.…”

Section: A Related Workmentioning

confidence: 99%

Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications

Nasseri

Eder

Eberts

et al. 2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Abstract-This paper presents the kinematic and dynamic analysis of a robot for 6 Degrees Of Freedom (DOF) micromanipulation. This robot is designed for performing intraocular manipulation but its application is not limited to ophthalmic surgery. The novel hybrid parallel-serial mechanism designed for this robot enables microscale motions with high stiffness and sufficient output forces. This portable robot can be easily integrated into standard biomedical environments and does not require any modification of conventional surgical tools. The contribution of this work is a novel design of a miniature micromanipulator comprising piezo actuator based parallel coupled joints which allow adjustable Remote Center of Motion (RCM). The advantages of the introduced mechanism compared to similar mechanisms are compactness, stiffness and simplicity of mathematical computation.

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Dexterity-enhanced telerobotic microsurgery

Cited by 70 publications

References 6 publications

Evaluation of a telerobotic system to assist surgeons in microsurgery

Evaluation of a telerobotic system to assist surgeons in microsurgery

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications

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