No abstract

Background Novel robots have recently been developed specifically for endonasal surgery. They can deliver several thin, tentacle-like surgical instruments through a single nostril. Among the many potential advantages of such a robotic system is the prospect of telesurgery over long distances. Objective To describe a phantom pituitary tumor removal done by a surgeon in Nashville, Tennessee, controlling a robot located approximately 800 km away in Chapel Hill, North Carolina. This is the first remote telesurgery experiment involving tentacle-like concentric tube manipulators. Methods A phantom pituitary tumor removal experiment was conducted twice – once locally and once remotely – using the robotic system. Robot commands and video were transmitted across the Internet. The latency of the system was evaluated quantitatively in both local and remote cases to determine the effect of the 800 km between the surgeon and robot. Results We measured a control and video latency of less than 100 ms in the remote case. Qualitatively, the surgeon was able to carry out the experiment easily, and observed no discernable difference between the remote and local cases. Conclusion Telesurgery over long distances is feasible with this robotic system. In the longer term, this may enable expert skull base surgeons to help many more patients by performing surgeries remotely over long distances.

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This article describes the preliminary development of a haptic setup for capturing and simulating musculoskeletal assessment and manipulation of the hand. A haptic device, called MasterFinger-2, is used for capturing one massage technique and one joint manipulation technique, and also for simulating this manipulation technique that can be used in both assessment and treatment of the hand. First, works developed demonstrate that application of haptic devices enable quantitative characterization of forces and positions used in manipulation of musculoskeletal structures. Secondly, an application for simulation is developed using the MasterFinger-2 to display (both visually and haptically) manipulations of one joint of the hand around three axes. The novel aspects of this approach are the use of a multifinger device for capture, simulation and modeling the movement of a biological joint for haptic simulation across three axes, each with non-linear behavior.