Enabling Medical Robotics for the Next Generation of Minimally Invasive Procedures: Minimally Invasive Cardiac Surgery with Single Port Access

Choset, Howie; Zenati, Marco A.; Ota, Takeyoshi; Degani, Amir; Schwartzman, David; Zubiate, Brett; Wright, Cornell

doi:10.1007/978-1-4419-1126-1_12

Cited by 8 publications

(2 citation statements)

References 32 publications

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“…Image guided [206] Automated 2D scanning and 3D reconstruction of the prostate [206,207]; computer aided biopsy planning and execution [206,207] Prostate biopsy [206] CE and FDA [206] Lapabot University of California Los Angeles, CA Teleoperated [208] Shared control for teaching [208] Laparoscopic procedures [208] MASTER Nanyang Technological University, Singapore Partial autonomy [218] MIS [217] preparing for CE marking [219] Sayaka RF Corp. Ltd. Nagano, Japan Capsule endoscope [220] Side facing, rotating camera inside the pill, battery free [220] Inspection of the stomach and colon [220] ≈$500 [221] SPORT (formerly Amadeus Composer) [222] Titan Medical Inc. Toronto, ON Teleoperated [73,223] Single-site surgery [224] with licensed technology from Columbia University [222] MIS [223] Planned FDA for 2015 [225] <$1M per unit [139,[226][227][228] Surgenius Surgica Robotica S.p.A Verona, Italy Teleoperated [72,229] MIS [72,229] CE mark (2012) [72,230,231] SurgiBot TransEnterix Surgical Inc. Morrisville, NC Assisted tool guidance [232] 3D vision, robot tool guidance, single site surgery [232] General MIS [232] ≈$500k to $1M [233,…”

Section: Elstree Ukmentioning

confidence: 99%

Current Capabilities and Development Potential in Surgical Robotics

Hoeckelmann

Rudas

Fiorini

et al. 2015

International Journal of Advanced Robotic Systems

108

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Commercial surgical robots have been in clinical use since the mid-1990s, supporting surgeons in various tasks. In the past decades, many systems emerged as research platforms, and a few entered the global market. This paper summarizes the currently available surgical systems and research directions in the broader field of surgical robotics. The widely deployed teleoperated manipulators aim to enhance human cognitive and physical skills and provide smart tools for surgeons, while image-guided robotics focus on surpassing human limitations by introducing automated targeting and treatment delivery methods. Both concepts are discussed based on prototypes and commercial systems. Through concrete examples the possible future development paths of surgical robots are illustrated. While research efforts are taking different approaches to improve the capacity of such systems, the aim of this survey is to assess their maturity from the commercialization point of view.

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Section: Elstree Ukmentioning

confidence: 99%

Current Capabilities and Development Potential in Surgical Robotics

Hoeckelmann

Rudas

Fiorini

et al. 2015

International Journal of Advanced Robotic Systems

108

View full text Add to dashboard Cite

show abstract

“…Many surgical robots, however, are continuum robots that curve along their length. This includes robotic catheters [13], [14], robotic instrument sheaths [15], snake-like robots [16] as well as concentric tube robots [17], [18]. While robot curvature is often known in real time based on the kinematic model and sensors, algorithms for detecting and tracking straight robots cannot be easily adapted to robots that curve along their length.…”

Section: Introductionmentioning

confidence: 99%

Detection of curved robots using 3D ultrasound

Ren

Vasilyev

Dupont

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Three-dimensional ultrasound can be an effective imaging modality for image-guided interventions since it enables visualization of both the instruments and the tissue. For robotic applications, its realtime frame rates create the potential for image-based instrument tracking and servoing. These capabilities can enable improved instrument visualization, compensation for tissue motion as well as surgical task automation. Continuum robots, whose shape comprises a smooth curve along their length, are well suited for minimally invasive procedures. Existing techniques for ultrasound tracking, however, are limited to straight, laparoscopic-type instruments and thus are not applicable to continuum robot tracking. Toward the goal of developing tracking algorithms for continuum robots, this paper presents a method for detecting a robot comprised of a single constant curvature in a 3D ultrasound volume. Computational efficiency is achieved by decomposing the six-dimensional circle estimation problem into two sequential three-dimensional estimation problems. Simulation and experiment are used to evaluate the proposed method.

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Copying Nature - A Design of Hyper-Redundant Robot Joint/Support Based on Hydrostatic Skeleton

Afolayan

2015

Biomimetic and Biohybrid Systems

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Enabling Medical Robotics for the Next Generation of Minimally Invasive Procedures: Minimally Invasive Cardiac Surgery with Single Port Access

Cited by 8 publications

References 32 publications

Current Capabilities and Development Potential in Surgical Robotics

Current Capabilities and Development Potential in Surgical Robotics

Detection of curved robots using 3D ultrasound

Copying Nature - A Design of Hyper-Redundant Robot Joint/Support Based on Hydrostatic Skeleton

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