Dexterity enhancement in microsurgery using a motion-scaling system and microgripper

Ku, S.; Salcudean, Septimiu E.

doi:10.1109/icsmc.1995.537737

Cited by 4 publications

(4 citation statements)

References 14 publications

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“…However, the overall dimensions of the Da Vinci robot and especially the distal diameter of its tools (5 mm) are too large for middle ear surgery. Several robots have been designed for microsurgery or ophthalmology such as RAMS, 18 a tele-operated micro gripper, 19 Jensen's micromanipulator, 20 and "the micro hand." 21 These robots can enhance surgeon's dexterity and reduce tremor, jerk, drift, and overshoot, properties that can be highly beneficial in middle ear surgery.…”

Section: Figure 9 Endoscopic View Of a Robot-assisted Stapedectomy In A Human Temporal Bone Specimenmentioning

confidence: 99%

From Conception to Application of a Tele-Operated Assistance Robot for Middle Ear Surgery

et al. 2011

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The authors' goal was to design and evaluate a robot dedicated to middle ear surgery. Specifications for dimensions, forces, and kinematics were collected, based on the otosclerosis procedure. The robot structure has a compact geometry with 3 linear and 3 rotatory motors. It is remotely piloted via a robot-surgeon interface under operative microscope. Ability to reach anatomical targets, to perform stapedectomy, and to place prosthesis in a model of stapedotomy was evaluated by 6 surgeons. Multiple anatomical targets in the middle ear could be successfully reached without damaging surrounding structures. The robot could be used under operative microscope with minimal visual field impairment or jointly with a 4-mm endoscope through the external auditory canal to perform stapedectomy in temporal bone specimens. Prosthesis could be inserted in the stapedotomy model. The assistance robot is the first prototype with 6 degrees of freedom, a kinematic structure, and dimensions optimized for tele-operated middle ear surgery.

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Section: Figure 9 Endoscopic View Of a Robot-assisted Stapedectomy In A Human Temporal Bone Specimenmentioning

confidence: 99%

From Conception to Application of a Tele-Operated Assistance Robot for Middle Ear Surgery

et al. 2011

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“…Minimally invasive robotic surgery provides many advantages over conventional laparoscopic surgery for surgical operations, including an increase in dexterity (1,2) and precision (3). Advances in control algorithms, kinematics and mechanical design in robotic systems have increased the usability of the most advanced robotic surgical systems.…”

Section: Introductionmentioning

confidence: 99%

“…Today, the combination of three-dimensional (3D) imaging data, computers and sensors (4) allow robots to guide instruments accurately to pathological structures deep within the body. In addition, tremor filtration (5)(6)(7)(8)(9)(10)(11), motion scaling (2,(12)(13)(14)(15)(16)(17)(18), an ergonomically comfortable environment (19), and an added wrist joint incorporated into surgical robots aid in surgeon precision.…”

Section: Introductionmentioning

confidence: 99%

“…Each hand operates a controller used to manipulate the robot-mediated laparoscopic instruments. This arrangement facilitates movements that are more ergonomic (2,(19)(20)(21)(22)(23)(24) than conventional laparoscopic tools. Depending on the physical arrangement of the workstation and robotic parameters such as motion scaling, the surgeon's movements necessary to guide the robotic instruments may be expanded to a working envelope (defined as the volume swept by the surgeon's hand controllers through the surgeon's full range of motion) larger than those typical in conventional laparoscopic procedures.…”

Section: Introductionmentioning

confidence: 99%

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