Telemanipulator design for minimally invasive surgery

Lazeroms, M.; Jongkind, W.; Honderd, G.

doi:10.1109/acc.1997.612004

Cited by 7 publications

(1 citation statement)

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“…A much too optimistic view is given by the following phrase (Green et al, 1995): 'Technologically, there seems to be no fundamental barrier to implementing telesurgery, although achieving fail-safe performance of both the sophisticated equipment and the communication link is a significant task, and propagation delays may present a challenge at distances greater than a few hundred kilometres'. Here it should be noted that Master-Slave systems are complex and sensitive to disturbances and contact instability (Lazeroms et al 1997;Sheridan, 1996). Furthermore, the mechatronical instruments are fragile and difficult to sterilize.…”

Section: Long-term Research On Minimally Invasive Surgerymentioning

confidence: 99%

Open versus minimally invasive surgery: a man-machine system approach

Stassen

Dankelman

Grimbergen

1999

Transactions of the Institute of Measurement and Control

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Minimally invasive surgery is one of the important developments in surgery. In this type of surgery, the actual operation is performed through a number of small incisions in the skin. Special instruments are inserted via trocars, i.e. tubes that allow the surgeon to bring instruments or sensors into the body. The view at the operating field comes from a camera presenting a two-dimensional image on a monitor. The minimally invasive surgical technique has many potential benefits for the patients. However, compared to open surgery there are severe disadvantages for the surgeon, such as the loss of three-dimensional visual feedback, the disturbed eye-hand co-ordination and the poor ergonomic design of the surgical instrumentation. At this moment the differences between open and minimally invasive surgery can mainly be ascribed to differences in the manual control task. In this paper, the man-machine aspects of the traditional open operation process will be compared with those of the minimally invasive surgery process. In particular, the consequences of the restricted perception in minimally invasive surgery will be discussed. This paper focuses on minimally invasive surgery in the abdomen (laparoscopic surgery); however, most of the findings also apply to other forms of minimally invasive surgery (e.g. heart or orthopaedic surgery). Some future developments will be discussed.

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Section: Long-term Research On Minimally Invasive Surgerymentioning

confidence: 99%