Robot-Assisted Minimally Invasive Surgery—Surgical Robotics in the Data Age

Haidegger, Tamás; Speidel, Stefanie; Stoyanov, Danail; Satava, Richard M.

doi:10.1109/jproc.2022.3180350

Cited by 58 publications

(21 citation statements)

References 101 publications

(83 reference statements)

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Numerous technological innovations have improved upon all underlying system components, yet the original model remains largely valid. Moreover, assuming very rapid control cycles, the Model→Plan→Execute→Model even fits teleoperation-type Robot-Assisted Minimally Invasive Surgery (RAMIS) systems like da Vinci [10].…”

Section: The Traditional Surgical Cad/cam Paradigmmentioning

confidence: 99%

“…Teleoperated robots are actuated systems, holding and moving instruments, but they are remotely controlled in real-time by a human operator, and are endowed with only very limited autonomous capabilities (such as tremor filtering) [5]. A prime example of RAMIS robots is the da Vinci Surgical System, discussed in depth by Haidegger et al [10])…”

Section: The Traditional Surgical Cad/cam Paradigmmentioning

confidence: 99%

“…The unprecedented success of the da Vinci has had an immensely positive impact on surgical robotics, and having been carried forward by this momentum, a variety of endoluminal interventional robot systems have also appeared. For an in-depth review of these systems, we refer the reader to two companion articles in this special issue, by Haidegger et al [10] on da Vinci and related RAMIS systems and by Kwoh et al [45] on endoluminal robotic systems.…”

Section: E Video (Rgb) Image Guidancementioning

confidence: 99%

See 2 more Smart Citations

Image-Guided Interventional Robotics: Lost in Translation?

2022

Self Cite

View full text Add to dashboard Cite

Interventional robotic systems have been deployed with all existing imaging modalities, in an expansive portfolio of therapies and surgeries. Over the years, literature reviews have painted a comprehensive portrait of the translation of the underlying technology from research to practice. While many of these robots performed promisingly in pre-clinical settings, only a handful of them managed to evolve further, and break through the commercialization boundary, and even fewer reached a wide-scale adoption. Despite the undeniable success of service robotics in general, and particularly in some sophisticated medical applications, image-guided robotics' impact remained modest compared to other surgical areas, especially laparoscopic minimally invasive surgery. This article aims to embrace the stateof-the-art on one hand, and to provide a comprehensive narrative to the situation described, to support future system developers and facilitating the translation from scientific research to applied clinical technology development.

show abstract

Section: The Traditional Surgical Cad/cam Paradigmmentioning

confidence: 99%

Section: The Traditional Surgical Cad/cam Paradigmmentioning

confidence: 99%

Section: E Video (Rgb) Image Guidancementioning

confidence: 99%

See 1 more Smart Citation

Image-Guided Interventional Robotics: Lost in Translation?

2022

Self Cite

View full text Add to dashboard Cite

show abstract

“…Most of the previous studies had been performed on laboratory settings of nonhuman tissue samples. The studies on real surgical cases or soft human tissues were also limited in term of quantitative analyses [23,25,[40][41][42]. These understandings will eventually benefit the development of computer-assisted or robotics automation technology to improve the outcome of the procedure [10,[43][44][45][46].…”

Section: Related Workmentioning

confidence: 99%

Interactive 3D Force/Torque Parameter Acquisition and Correlation Identification during Primary Trocar Insertion in Laparoscopic Abdominal Surgery: 5 Cases

Nillahoot

Pillai

Sharma

et al. 2022

Sensors

View full text Add to dashboard Cite

Laparoscopic procedures have become indispensable in gastrointestinal surgery. As a minimally invasive process, it begins with primary trocar insertion. However, this step poses the threat of injuries to the gastrointestinal tract and blood vessels. As such, the comprehension of the insertion process is crucial to the development of robotic-assisted/automated surgeries. To sustain robotic development, this research aims to study the interactive force/torque (F/T) behavior between the trocar and the abdomen during the trocar insertion process. For force/torque (F/T) data acquisition, a trocar interfaced with a six-axis F/T sensor was used by surgeons for the insertion. The study was conducted during five abdominal hernia surgical cases in the Department of Surgery, Faculty of Medicine, Ramathibodi Hospital, Mahidol University. The real-time F/T data were further processed and analyzed. The fluctuation in the force/torque (F/T) parameter was significant, with peak force ranging from 16.83 N to 61.86 N and peak torque ranging from 0.552 Nm to 1.76 Nm. The force parameter was observed to positively correlate with procedural time, while torque was found to be negatively correlated. Although during the process a surgeon applied force and torque in multiple axes, for a robotic system, the push and turn motion in a single axis was observed to be sufficient. For minimal tissue damage in less procedural time, a system with low push force and high torque was observed to be advantageous. These understandings will eventually benefit the development of computer-assisted or robotics technology to improve the outcome of the primary trocar insertion procedure.

show abstract

“…The data gathered shall guide the surgeon to the pre-operatively defined target anatomical locations. In CAS, it may be necessary to detect when an activated electrosurgical tool (applied part of a surgical device from the standards point of view [ 7 ]) comes into contact with the patient; this is known as the energy event [ 8 ]. For electrosurgical cautery, placing an accurate timestamp on the energy event is necessary when locating tissue classifications from an intra-operative sensor that characterizes tissue properties.…”

Section: Introductionmentioning

confidence: 99%

Sensor-Based Automated Detection of Electrosurgical Cautery States

Ehrlich

Jamzad

Asselin

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

In computer-assisted surgery, it is typically required to detect when the tool comes into contact with the patient. In activated electrosurgery, this is known as the energy event. By continuously tracking the electrosurgical tools’ location using a navigation system, energy events can help determine locations of sensor-classified tissues. Our objective was to detect the energy event and determine the settings of electrosurgical cautery—robustly and automatically based on sensor data. This study aims to demonstrate the feasibility of using the cautery state to detect surgical incisions, without disrupting the surgical workflow. We detected current changes in the wires of the cautery device and grounding pad using non-invasive current sensors and an oscilloscope. An open-source software was implemented to apply machine learning on sensor data to detect energy events and cautery settings. Our methods classified each cautery state at an average accuracy of 95.56% across different tissue types and energy level parameters altered by surgeons during an operation. Our results demonstrate the feasibility of automatically identifying energy events during surgical incisions, which could be an important safety feature in robotic and computer-integrated surgery. This study provides a key step towards locating tissue classifications during breast cancer operations and reducing the rate of positive margins.

show abstract

Robot-Assisted Minimally Invasive Surgery—Surgical Robotics in the Data Age

Abstract: This article summarizes the state of the art in robot-assisted minimally invasive surgery and provides an overview of key emerging technologies associated with next-generation systems.

Cited by 58 publications

References 101 publications

Image-Guided Interventional Robotics: Lost in Translation?

Image-Guided Interventional Robotics: Lost in Translation?

Interactive 3D Force/Torque Parameter Acquisition and Correlation Identification during Primary Trocar Insertion in Laparoscopic Abdominal Surgery: 5 Cases

Sensor-Based Automated Detection of Electrosurgical Cautery States

Contact Info

Product

Resources

About