Emerging Robotic Platforms for Minimally Invasive Surgery

Vitiello, Valentina; Lee, Su-Lin; Cundy, Thomas P.; Yang, Guang‐Zhong

doi:10.1109/rbme.2012.2236311

Cited by 370 publications

(239 citation statements)

References 101 publications

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“…Such an approach may be adequate for performing very simple procedures, however a more sophisticated endoscopic platform is needed for more complex thoracic surgery. Equipment used for NOTES can be categorized into two groups: flexible equipment and miniaturized devices (7,8). These devices, some of which are merely prototypes for NOTES, have their own advantages and disadvantages, which are summarized in Table 1.…”

Section: Natural Orifice Transluminal Endoscopic Surgery (Notes) Platmentioning

confidence: 99%

Future of uniportal video-assisted thoracoscopic surgery—emerging technology

Li¹,

Ng²

2016

Ann. Cardiothorac. Surg.

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Uniportal VATS poses unique difficulties to the surgeon, mainly as a consequence of operating through a small single incision. The instruments in uniportal VATS have limited movement through the small incision. In addition, the approach to the surgical operating site is unidirectional, which may restrict vision and retraction, and unavoidably suffers from instrument fencing. Recent thoracoscopic technology in the form of a wide variable angled lens has to some extent improved these shortcomings. The development of an extendable flexible thoracoscope and wireless steerable endoscope (WSE) systems can further improve the visualization for surgery and reduce or even remove fencing between endoscope and instruments. New single incision access platforms both derived from Natural orifice transluminal endoscopic surgery (NOTES) and robotic surgery approaches are on the horizon. These may allow uniportal VATS to be performed through an even smaller ultra-minimally invasive incision, with improved vision, more freedom of movement of the instruments and greater precision. However, a number of problems remain to be resolved, including provision of a stable platform and payload, applied force limitations and equipment sterilization. Advances in uniportal VATS major lung resection techniques have not only challenged the surgeon to acquire new skills and knowledge, but at the same time have rekindled the collaborative spirit between industry and clinician in developing novel equipment and technology to push the boundaries of minimally invasive surgery. These technological improvements and innovations may improve operating efficiency and safety during uniportal VATS surgery.

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Section: Natural Orifice Transluminal Endoscopic Surgery (Notes) Platmentioning

confidence: 99%

Future of uniportal video-assisted thoracoscopic surgery—emerging technology

Li¹,

Ng²

2016

Ann. Cardiothorac. Surg.

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show abstract

“…A number of devices targeting flexible access applications for Natural Orifice Transluminal Endoscopic Surgery (NOTES) have surgical instruments integrated at the front of flexible endoscopes, such as the ANUBISCOPE ® (iCUBE STRAS) robot developed at IRCAD-Strasbourg, that is based on the Karl Storz ® Anubis ® system, the R-scope and Endo-Samurai by Olympus. A review of such flexible access NOTES systems can be found in [10]. Although promising, these systems still lack of adequate stability, triangulation and force exertion capabilities to carry out complex tissue manipulation, as required during TEMS.…”

Section: Introductionmentioning

confidence: 99%

A Single-Port Robotic System for Transanal Microsurgery—Design and Validation

Shang

Leibrandt

Γιαταγάνας

et al. 2017

IEEE Robot. Autom. Lett.

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Abstract-This paper introduces a single-port robotic platform for Transanal Endoscopic Micro-Surgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or fullthickness dissection. This system is intended to replace the conventional TEMS approach that uses manual laparoscopic instruments. The new system is based on master-slave robotically controlled tele-manipulation. The slave robot comprises a support arm that is mounted on the operating table, supporting a surgical port and a robotic platform that drives the surgical instruments. The master console includes a pair of haptic devices, as well as a 3D display showing the live video stream of a stereo endoscope inserted through the surgical port. The surgical instrumentation consists of energy delivery devices, graspers and needle drivers allowing a full TEMS procedure to be performed. Results from benchtop tests, ex-vivo animal tissue evaluation and in-vivo studies demonstrate the clinical advantage of the proposed system.

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“…Continuum robots are emerging surgical platforms that can navigate through the human anatomy to reach deep-seated pathological sites [2], [3]. A representative continuum robot is the concentric tube robot [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Unified Tracking and Shape Estimation for Concentric Tube Robots

et al. 2017

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Abstract-Tracking and shape estimation of flexible robots that navigate through the human anatomy are prerequisites to safe intracorporeal control. Despite extensive research in kinematic and dynamic modelling, inaccuracies and shape deformation of the robot due to unknown loads and collisions with the anatomy make shape sensing important for intra-operative navigation. To address this issue, vision-based solutions have been explored. The task of 2D tracking and 3D shape reconstruction of flexible robots as they reach deep-seated anatomical locations is challenging, since the image acquisition techniques usually suffer from low signal-to-noise ratio (SNR) or slow temporal responses. Moreover, tracking and shape estimation are thus far treated independently despite their coupled relationship. This paper aims to address tracking and shape estimation in a unified framework based on Markov Random Fields (MRF). By using concentric tube robots as an example, the proposed algorithm fuses information extracted from standard monoplane X-ray fluoroscopy with the kinematics model to achieve joint 2D tracking and 3D shape estimation in realistic clinical scenarios. Detailed performance analyses of the results demonstrate the accuracy of the method for both tracking and shape reconstruction.

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Emerging Robotic Platforms for Minimally Invasive Surgery

Cited by 370 publications

References 101 publications

Future of uniportal video-assisted thoracoscopic surgery—emerging technology

Future of uniportal video-assisted thoracoscopic surgery—emerging technology

A Single-Port Robotic System for Transanal Microsurgery—Design and Validation

Unified Tracking and Shape Estimation for Concentric Tube Robots

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