Robot-Assisted Surgery System with Kinesthetic Feedback

Abstract

The better understanding of the systems of the human body and their specific functions has led to minimally invasive and microsurgical procedures being carried out on an ever smaller scale. New therapies will require precision of 10 microm or better, which will only be achievable with robotic teleoperators. Experience with existing robot-assisted surgery systems shows that the human-machine interface is a critical component for acceptance of this technology, but no universally satisfactory interface has yet been found. Therefore, this article investigates a new concept based on kinesthetic motion feedback and presents details of the implementation of a first prototype.

A smart hydraulic joint for future implementation in robotic structures

“…The maximum deflection is at x = L: Equations (20,25), which respectively represent the first and second instance, can be used to investigate the feasibility of embedding the hydraulic flexible joint into a legged robot.…”

“…By taking inspiration from the hydraulic systems of spiders, 1 a flexible hydraulic joint suitable for being embedded on adaptive robotic structures has recently been proposed and investigated by the authors. [2][3][4][5]40 On the other hand, miniaturized hydraulic systems have been developed by several researchers for actuating anthropomorphic hand prostheses, [6][7][8][9][10][11] robotic catheters, 7-17 self-propelling endoscopes, 18,19 macro-scale hexapod robots, [20][21][22][23] surgical robotic systems, [24][25][26] and several other devices. Different kinds of micro-actuation systems have been investigated 27,28 and several micro-pump systems have been manufactured and their performances compared.…”

Robotik

“…7a) wurde bereits zur Neuroendoskopie mit Joysticksteuerung eingesetzt [33].Als Besonderheit des Systems wurden Versuche über eine Rückkopplung der Endoskopbewegung auf ein Operationscockpit durchgeführt, das ebenfalls auf einem Hexapod installiert war [32]. Ein Prototyp (Abb.…”

Application of Advanced Virtual Reality and 3D Computer Assisted Technologies in Computer Assisted Surgery and Tele-3D-Computer Assisted Surgery in Rhinology

“…Every physician using computer for diagnostic and therapeutic purposes should know that images are processed by use of graphic and computer systems, as well as by specialized program systems, in order to better present the anatomy of a particular part of the body with identified diseased areas (Ecke et al, 1998;Urban et al, 1998).The possibility of exact preoperative, non-invasive visualization of the spatial relationships of anatomic and pathologic structures, including extremely fragile ones, size and extent of pathologic process, and of precisely predicting the course of surgical procedure, allows the surgeon to achieve considerable advantage in the preoperative examination of the patient and to reduce the risk of intraoperative complications (Knezović et al, 2007), all this by use different virtual reality (VR) methods (Fig.1.). Beside otorhinolaryngology, this has also been used in other fields Hassfeld et al, 1998).…”