Comparison of Control Modes of a Hand-Held Robot for Laparoscopic Surgery

Teleoperated robots for minimally invasive surgery make surgeons loose direct contact with the patient. We are developing a handheld, dexterous surgical robot that can be controlled with one hand only, while standing at the operating table. The instrument is composed of a master part (the handle) and a slave part (the tip). This work compares the performance of different control modes, i.e. different ways to map the degrees of freedom of the handle to those of the tip. We ask users to drive the tip along complex trajectories in a virtual environment, using the real master to drive a simulated slave, and assess their performance. Results show that, concerning time, users with no training in laparoscopy prefer a direct mapping of position and orientation, like in free hand motion. However, users trained in laparoscopy perform equally fast with our hand-held robot and, concerning precision, make a smaller number of errors

Computer- and robot-assisted Medical Intervention

Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends is given. A case-study is detailed. Other types of robotic help in the medical environment (such as for assisting a handicapped person, for rehabilitation of a patient or for replacement of some damaged/suppressed limbs or organs) are out of the scope of this chapter.Comment: Handbook of Automation, Shimon Nof (Ed.) (2009) 000-00

Robocatch: Design and Making of a Hand-Held Spillage-Free Specimen Retrieval Robot for Laparoscopic Surgery

Specimen retrieval is an important step in laparoscopy, a minimally invasive surgical procedure performed to diagnose and treat a myriad of medical pathologies in fields ranging from gynecology to oncology. Specimen retrieval bags (SRBs) are used to facilitate this task, while minimizing contamination of neighboring tissues and port-sites in the abdominal cavity. This manual surgical procedure requires usage of multiple ports, creating a traffic of simultaneous operations of multiple instruments in a limited shared workspace. The skill-demanding nature of this procedure makes it time-consuming, leading to surgeons’ fatigue and operational inefficiency. This thesis presents the design and making of RoboCatch, a novel hand-held robot that aids a surgeon in performing spillage-free retrieval of operative specimens in laparoscopic surgery. The proposed design significantly modifies and extends conventional instruments that are currently used by surgeons for the retrieval task: The core instrumentation of RoboCatch comprises a webbed three-fingered grasper and atraumatic forceps that are concentrically situated in a folded configuration inside a trocar. The specimen retrieval task is achieved in six stages: 1) The trocar is introduced into the surgical site through an instrument port, 2) the three webbed fingers slide out of the tube and simultaneously unfold in an umbrella like-fashion, 3) the forceps slide toward, and grasp, the excised specimen, 4) the forceps retract the grasped specimen into the center of the surrounding grasper, 5) the grasper closes to achieve a secured containment of the specimen, and 6) the grasper, along with the contained specimen, is manually removed from the abdominal cavity. The resulting reduction in the number of active ports reduces obstruction of the port-site and increases the procedure’s efficiency. The design process was initiated by acquiring crucial parameters from surgeons and creating a design table, which informed the CAD modeling of the robot structure and selection of actuation units and fabrication material. The robot prototype was first examined in CAD simulation and then fabricated using an Objet30 Prime 3D printer. Physical validation experiments were conducted to verify the functionality of different mechanisms of the robot. Further, specimen retrieval experiments were conducted with porcine meat samples to test the feasibility of the proposed design. Experimental results revealed that the robot was capable of retrieving masses of specimen ranging from 1 gram to 50 grams. The making of RoboCatch represents a significant step toward advancing the frontiers of hand-held robots for performing specimen retrieval tasks in minimally invasive surgery

Handheld Devices for Laparoscopic Surgery

Despite the well-known benefits of minimally invasive surgery (MIS) to the patients, this surgical technique implies some technical challenges for surgeons. These technical limitations are increased with the introduction of laparoendoscopic single-site (LESS) surgery. In order to overcome some of these technical difficulties, new handheld devices have been developed, providing improved functionalities along with precision-driven and articulating instrument tips. In this chapter, we will review the current status of handheld devices for laparoscopy and LESS surgery. Devices that provide additional and innovative functionalities in comparison with conventional surgical instruments will be considered. Results will be based on studies published in the scientific literature and our experience. These surgical devices will be organized into two main groups, mechanical devices and robotic-driven devices. In general, these instruments intend to simulate the dexterity of movements of a human wrist. Mechanical devices are cheaper and easier to develop, so most of the available handheld instruments fall into this category. The majority of the robotic-driven devices are needle holders with an articulating tip, controlled by an interface implemented on the instrument handle. In general, these handheld devices claim to offer an enhancement of dexterity, precision, and ergonomics

PERCEPTIONS OF SURGICAL ROBOTICS

Robot-assisted surgery has become one of the most technologically advanced surgical procedures. In 1999, Intuitive Surgical unveiled the da Vinci system, a robotic device developed to help surgeons perform minimally invasive procedures without the disadvantages of traditional laparoscopic techniques. In this current study, surveys were developed to collect three different populations\u27 perceptions on robot-assisted surgery: the general public, post-operative patients, and medical practitioners. Statistical analysis was performed on the collected data, and results were compared between and within each of the three populations. Differences existed between the three populations\u27 perceived impact of RAS on patient recovery time, length of procedure, and operator learning curve

Characteristics of patients undergoing robotic-assisted prostatectomy. observational study

IntroducciónLa prostatectomía es el tratamiento estándar para pacientes con cáncer de próstata localizado. Actualmente, la prostatectomía radical asistida por robot es ampliamente utilizada por sus ventajas en visualización, precisión y manipulación de los tejidos. Sin embargo, este abordaje requiere un manejo mul-tidisciplinario, pues el enfoque analgésico y anestésico es fundamental para optimizar los desenlaces. ObjetivoDescribir los primeros casos de prostatectomía radical asistida por robot realizadas en un hospital universitario de cuarto nivel en Bogotá, Colombia. MetodologíaEstudio observacional en el cual se incluyeron todos los pacientes sometidos a prostatectomía radical asistida por robot (PRAR) en el hospital Fundación Santa Fe de Bogotá entre septiembre de 2015 y diciembre de 2019. Se excluyeron los pacientes con historia clínica incompleta. Se registraron los datos demográficos y se revisaron los eventos perioperatorios importantes. ResultadosSe analizaron 301 pacientes. La edad media de pacientes sometidos a PRAR fue 61,4 ± 6,7 años. El tiempo quirúrgico promedio fue 205 ± 43 minutos y la pérdida sanguínea media fue 300 [200-400] mL. Solo 6 pacientes (2 %) requirieron transfusión. La edad y el IMC no mostraron una asociación relevante con los desenlaces clínicos.ConclusionesEl adecuado abordaje perioperatorio en PRAR es importante para minimizar las complicaciones, las cuales en este estudio y en esta institución fueron infrecuentes.Introduction: Prostatectomy is the standard treatment for patients with clinically localized prostate cancer. Currently, robot-assisted radical prostatectomy (RARP) is widely used for its advantages, as it provides better visualization, precision, and reduced tissue manipulation. However, RARP requires a multidisciplinary approach in which anesthesia and analgesia management are especially important. Objective: This study aims to describe our experience delivering anesthesia for the first cases of patients undergoing RARP in a teaching hospital in Bogotá, Colombia. Methodology: An observational study was conducted. We included all patients undergoing RARP from September 2015 to December 2019 at Fundación Santa Fe de Bogotá. All patients with incomplete data were excluded. Patient demographics were recorded, and significant perioperative events were reviewed. Results: A total of 301 patients were included. At our institution, the mean age for patients undergoing RARP was 61.4 ± 6.7 years. The mean operative time was 205 ± 43 min and mean blood loss was 300 [200-400] mL. Only 6 (2%) patients required transfusion. Age and BMI were not associated with clinical outcomes. Conclusions: An adequate perioperative approach in RARP is important to minimize complications, which in this study and in this institution were infrequent

Gaze gesture based human robot interaction for laparoscopic surgery

While minimally invasive surgery offers great benefits in terms of reduced patient trauma, bleeding, as well as faster recovery time, it still presents surgeons with major ergonomic challenges. Laparoscopic surgery requires the surgeon to bimanually control surgical instruments during the operation. A dedicated assistant is thus required to manoeuvre the camera, which is often difficult to synchronise with the surgeon’s movements. This article introduces a robotic system in which a rigid endoscope held by a robotic arm is controlled via the surgeon’s eye movement, thus forgoing the need for a camera assistant. Gaze gestures detected via a series of eye movements are used to convey the surgeon’s intention to initiate gaze contingent camera control. Hidden Markov Models (HMMs) are used for real-time gaze gesture recognition, allowing the robotic camera to pan, tilt, and zoom, whilst immune to aberrant or unintentional eye movements. A novel online calibration method for the gaze tracker is proposed, which overcomes calibration drift and simplifies its clinical application. This robotic system has been validated by comprehensive user trials and a detailed analysis performed on usability metrics to assess the performance of the system. The results demonstrate that the surgeons can perform their tasks quicker and more efficiently when compared to the use of a camera assistant or foot switches