Toward Image Guided Robotic Surgery: System Validation

Herrell, S. Duke; Kwartowitz, David M.; Milhoua, Paul M.; Galloway, Robert L.

doi:10.1016/j.juro.2008.10.022

Cited by 55 publications

(31 citation statements)

References 18 publications

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“…The central theme in many of these past approaches is rooted in the master-slave relationship between control device and robotic manipulator and the bilateral force reflectivity between them [14] (and others). This type of approach can be especially useful for robotic-assisted surgical systems, which employ similar approaches sometimes referred to as 'no-fly zones' [15]- [20]. These virtual fixtures serve to prevent unwanted motion of the robotic end-effector(s) into specific regions of the configuration space and indicate these restrictions to the operator through haptic or visual feedback.…”

Section: B Clinical Mpl Integrationmentioning

confidence: 99%

Experimental validation of imposed safety regions for neural controlled human patient self-feeding using the modular prosthetic limb

Wester

Para

Sivakumar

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents the experimental validation of software-based safety features implemented during the control of a prosthetic limb in self-feeding tasks with a human patient. To ensure safe operation during patient controlled movements of the limb, velocity-based virtual fixtures are constructed with respect to the patient's location and orientation relative to the limb. These imposed virtual fixtures or safety zones modulate the allowable movement direction and speed of the limb to ensure patient safety during commanded limb trajectories directed toward the patient's body or environmental obstacles. In this implementation, the Modular Prosthetic Limb (MPL) will be controlled by a quadriplegic patient using implanted intracortical electrodes. These virtual fixtures leverage existing sensors internal to the MPL and operate in conjunction with the existing limb control. Validation of the virtual fixtures was conducted by executing a recorded set of limb control inputs while collecting both direct feedback from the limb sensors and ground truth measurements of the limb configuration using a Vicon tracking system. Analysis of the collected data indicates that the system performed within the limitations prescribed by the imposed virtual fixtures. This successful implementation and validation enabled the approved clinical use of the MPL system for a neural controlled self-feeding task.

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Section: B Clinical Mpl Integrationmentioning

confidence: 99%

Experimental validation of imposed safety regions for neural controlled human patient self-feeding using the modular prosthetic limb

Wester

Para

Sivakumar

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The da Vinci is a master-slave telemanipulation system that provides 3D images with superior resolution and high contrast through its optical system (Figure 1(A)). The surgeon manipulates two master controllers located at the surgeon's console as in open surgery, and is able to obtain 3D images of the operative field, including binocular and magnified views with resolution equivalent to images obtained in an open fashion [4,5]. The Radius system consists of two hand-guided surgical manipulators, each approximately 50cm in length, which is slightly longer than standard endoscopic instruments ( Figure 1(B)) [3,6,7].…”

Section: Comparison Of the Da Vinci And The Radius Surgical Systemsmentioning

confidence: 99%

The da Vinci Surgical System versus the Radius Surgical System

Ishikawa¹,

Watanabe²,

Inaki³

et al. 2012

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Objective: Kanazawa University introduced the da Vinci surgical system and the Radius surgical system. In this study, we compared the advantages and disadvantages of each system. Methods: The da Vinci system is a master-slave telemanipulation system, which provides hi-resolution 3D images. The Radius system is pair of hand-guided surgical manipulators. In this study we focus on the operability of both instruments rather than their 3D optical systems. Results: The Radius was originally developed specifically focused on ligation and suturing with suture sizes bigger than 4-0, it is more effective, less expensive compared with the da Vinci. Although the da Vinci system is bulky, it allows surgeons to perform endoscopic surgeries only if ports are properly placed to prevent each arm from colliding with the other arms. A crucial difference between the Radius and the da Vinci is not limited to anastomose small vessels but is extended to multidirectional dissection. Currently, the cost including initial investment is the biggest issue; however, the da Vinci is absolutely necessary to implement delicate cardiac surgeries endoscopically and less-invasively. Early approval of robotic surgery by the government is urgently required in Japan. Conclusions: Although both the da Vinci and the Radius have endoscopic instruments with a multi-degree of freedom, applications need to be differentiated depending on the procedures and indications. Therefore, it can be clearly said that these unique innovative systems will never compete against each other.

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“…However, many research groups are confronting the challenge of building assessed surgical navigators for use in other anatomical regions [12][13][14]. In particular, Herrell et al [15] demonstrated the benefits to be gained by using an intraoperative surgical navigator in robotic surgery, augmenting the laparoscopic images with updated preoperative images. Intraoperative image guidance for the da Vinci Õ Surgical System has the potential to improve performance [15], as demonstrated by Kenngott et al [16] in testing a navigation system which provides real-time information on the position and orientation of the active surgical instrument in relation to the target lesion.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, Herrell et al [15] demonstrated the benefits to be gained by using an intraoperative surgical navigator in robotic surgery, augmenting the laparoscopic images with updated preoperative images. Intraoperative image guidance for the da Vinci Õ Surgical System has the potential to improve performance [15], as demonstrated by Kenngott et al [16] in testing a navigation system which provides real-time information on the position and orientation of the active surgical instrument in relation to the target lesion. These robotic surgical navigators specifically designed for innovative robotic platforms are becoming increasingly common, allowing precise control of the surgical instruments and improving the accuracy and efficiency of many surgical procedures [17].…”

Section: Introductionmentioning

confidence: 99%

Computer guidance system for single-incision bimanual robotic surgery

Carbone

Turini

Petroni

et al. 2012

Computer Aided Surgery

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The evolution of surgical robotics is following the progress of developments in Minimally Invasive Surgery (MIS), which is moving towards Single-Incision Laparoscopic Surgery (SILS) procedures. The complexity of these techniques has favored the introduction of robotic surgical systems. New bimanual robots, which are completely inserted into the patient's body, have been proposed in order to enhance the surgical gesture in SILS procedures. However, the limited laparoscopic view and the focus on the end-effectors, together with the use of complex robotic devices inside the patient's abdomen, may lead to unexpected collisions, e.g., between the surrounding anatomical organs not involved in the intervention and the surgical robot.This paper describes a computer guidance system, based on patient-specific data, designed to provide intraoperative navigation and assistance in SILS robotic interventions. The navigator has been tested in simulations of some of the surgical tasks involved in a cholecystectomy, using a synthetic anthropomorphic mannequin. The results demonstrate the usability and efficacy of the navigation system, underlining the importance of avoiding unwanted collisions between the robot arms and critical organs. The proposed computer guidance software is able to integrate any bimanual surgical robot design.

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Toward Image Guided Robotic Surgery: System Validation

Cited by 55 publications

References 18 publications

Experimental validation of imposed safety regions for neural controlled human patient self-feeding using the modular prosthetic limb

Experimental validation of imposed safety regions for neural controlled human patient self-feeding using the modular prosthetic limb

The da Vinci Surgical System versus the Radius Surgical System

Computer guidance system for single-incision bimanual robotic surgery

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