Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial]

Abstract

Two decades after the first reported robotic surgical procedure [1], surgical robots are just beginning to be widely used in the operating room or interventional suite. The da Vinci telerobotic system (Intuitive Surgical, Inc.), for example, has recently become more widely employed for minimally invasive surgery [2]. This article, the first in a three-part series, examines the core concepts underlying surgical and interventional robots, including the potential benefits and technical approaches, followed by a summary of the technical challenges in sensing, manipulation, user interfaces, and system design. The article concludes with a review of key design aspects, particularly in the areas of risk analysis and safety design. Note that medical care can be delivered in a surgical suite (operating room) or an interventional suite, but for convenience, we will henceforth use the term surgical to refer to both the surgical and interventional domains. Core Concepts This section describes some of the potential benefits of surgical robots, followed by an overview of the two technical paradigms, surgical computer-aided design and computer-aided manufacturing (CAD/CAM) and surgical assistance, which will be the subjects of the second and third articles in this series.

In vitro evaluation of accuracy and precision of automated robotic tooth preparation system for porcelain laminate veneers

“…[13][14][15] In the medical field, robotic surgery has been used in a broad array of applications. [16][17][18] The advantages of robotic surgery over conventional surgery include increased precision and accuracy, shortened healing period, reduced morbidity, and the ability to accurately import, integrate, and apply the presurgical planning data to the surgery. [16][17][18] Moreover, robotic surgery improves the ergonomics for the surgeon, in that the robot can sustain indefinitely the desired position for performing the surgical procedures accurately and with precision.…”

“…[16][17][18] The advantages of robotic surgery over conventional surgery include increased precision and accuracy, shortened healing period, reduced morbidity, and the ability to accurately import, integrate, and apply the presurgical planning data to the surgery. [16][17][18] Moreover, robotic surgery improves the ergonomics for the surgeon, in that the robot can sustain indefinitely the desired position for performing the surgical procedures accurately and with precision. [16][17][18] Tooth preparation is one of the most common dental procedures, and the high accuracy and precision of robotic technology may be beneficial for such a procedure.…”

“…[16][17][18] Moreover, robotic surgery improves the ergonomics for the surgeon, in that the robot can sustain indefinitely the desired position for performing the surgical procedures accurately and with precision. [16][17][18] Tooth preparation is one of the most common dental procedures, and the high accuracy and precision of robotic technology may be beneficial for such a procedure. Successful, consistent results with high accuracy and high precision may be expected for the application of robotics to tooth preparation.…”

Implementation and evaluation of a gesture-based input method in robotic surgery

“…Virtual constraints [2] and supervision of manipulation forces [3] minimize the risk of tissue damage. Augmentation of the patient with preoperative imaging modalities [4] and the associated information presentation, camera control and (partly) autonomous executed actions of error-prone and recurrent (sub-) tasks, such as knottying [5] or tissue piercing [6], have drawn the attention of researchers. This growing number of high level functionality that we might see in future (commercial) systems has to be executed, controlled and supervised by the human operator.…”

Robotic flexible endoscope

“…Operating rooms and interventional suites are usually small, and, thus, a large robot can occupy too much space. This has been a complaint for many commercially available systems, which are large floor standing robots [Kazanzides, 2008]. A master console with an open structure, that allows the physician to keep in visual contact with the assistant and the patient, is preferred.…”