27-07-2012, 12:58 PM
Advances in Telesurgery and Surgical Robotics
[attachment=29226]
Definitions
Telepresence surgery: Computerized interface @ surgical workstation ↔ remote operative site; force feedback (haptic)
Cooperative telesurgery: tele-surgeon / local (remote) assistant cooperation .
Telerobotics: Remote control with a robotic arm, in conjunction with a laparoscope
Telementoring: Experienced surgeon acts as tutor / instructor (preceptor) for remote surgeon via interactive video
Teleproctoring (proctor=supervisor of exams): Documentation of performance for privileging purposes
Telesurg dynamics @ MIT
Surgeon’s fingers placed in rings of instruments
Rings are connected to motors, gears and belts
Precisely translate surgeon’s hand / finger motions into digital signals
Transmitted through computer- telecomm link
To robotic arms @ remote surgical station
Visual input: 2 remote CCD cameras (15 fps each → 3-D effect) → Surgeon’s monitor → Mirror → Optical 3-D glasses (stereoscopic vision)
Holding robots
Pair of large robotic arms
Hydraulic-actuated
Sits on moveable platform
Driven remotely by surgeon’s joysticks
Performs like a surgeon’s shoulder, allowing positioning of its hydraulic arms
Holds 2nd robot, wheels instruments into position by patient’s side
Guides them through dexterity-requiring surgical procedures (suturing, dissection)
Holds instruments steady while surgeon sutures and ties knots
Companion / Milli-robots / Robotic manipulators
Sterile, disposable, steel, mm-scale, fingertip-sized
Slender, jointed, finger-like tools
Connected by wires and tubes to larger robot
Pair of gripping forceps at one end to carry surgical tools
Contains miniscule video-camera
Inserted into body for actual surgical tasks (cutting, suturing) – 10-20 mm incisions
Inserts cameras
Provide tactile feedback though force-deflecting joysticks
Provides 7 DOF
[attachment=29226]
Definitions
Telepresence surgery: Computerized interface @ surgical workstation ↔ remote operative site; force feedback (haptic)
Cooperative telesurgery: tele-surgeon / local (remote) assistant cooperation .
Telerobotics: Remote control with a robotic arm, in conjunction with a laparoscope
Telementoring: Experienced surgeon acts as tutor / instructor (preceptor) for remote surgeon via interactive video
Teleproctoring (proctor=supervisor of exams): Documentation of performance for privileging purposes
Telesurg dynamics @ MIT
Surgeon’s fingers placed in rings of instruments
Rings are connected to motors, gears and belts
Precisely translate surgeon’s hand / finger motions into digital signals
Transmitted through computer- telecomm link
To robotic arms @ remote surgical station
Visual input: 2 remote CCD cameras (15 fps each → 3-D effect) → Surgeon’s monitor → Mirror → Optical 3-D glasses (stereoscopic vision)
Holding robots
Pair of large robotic arms
Hydraulic-actuated
Sits on moveable platform
Driven remotely by surgeon’s joysticks
Performs like a surgeon’s shoulder, allowing positioning of its hydraulic arms
Holds 2nd robot, wheels instruments into position by patient’s side
Guides them through dexterity-requiring surgical procedures (suturing, dissection)
Holds instruments steady while surgeon sutures and ties knots
Companion / Milli-robots / Robotic manipulators
Sterile, disposable, steel, mm-scale, fingertip-sized
Slender, jointed, finger-like tools
Connected by wires and tubes to larger robot
Pair of gripping forceps at one end to carry surgical tools
Contains miniscule video-camera
Inserted into body for actual surgical tasks (cutting, suturing) – 10-20 mm incisions
Inserts cameras
Provide tactile feedback though force-deflecting joysticks
Provides 7 DOF