A review of medical robotics for minimally invasive soft tissue surgery

Dogangil, G.; Davies, Brian; Baena, Ferdinando Rodriguez y

doi:10.1243/09544119jeim591

Cited by 201 publications

(113 citation statements)

References 88 publications

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“…29 Such technology and information might also be important for the development of sensors for robotic neurosurgery. 8 Noninvasive measurements of elastic properties allow "palpation" of tissues not normally exposed. Magnetic resonance elastography, which measures displacement caused by propagating shear waves, has been applied to humans for the study of hydrocephalus and brain tumors.…”

Section: Fig 3 Uppermentioning

confidence: 99%

Intracranial biomechanics following cortical contusion in live rats

Alfasi¹,

Shulyakov

Bigio

2013

JNS

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Object. The goal of this study was to examine the mechanical properties of living rat intracranial contents and corresponding brain structural alterations following parietal cerebral cortex contusion.Methods. After being anesthetized, young adult rats were subjected to parietal craniotomy followed by cortical contusion using a calibrated weight-drop method. Magnetic resonance imaging was used to visualize the contusion. At the site of contusion, instrumented force-controlled indentation was performed 2 hours to 21 days later on the intact dural surface. The force-deformation (stress-strain) relationship was used to calculate elastic (indentation modulus) and strain changes over time, and constant hold or cyclic stress was used to evaluate viscoelastic deformation. These measurements were followed by histological studies.Results. At contusion sites, the indentation modulus was significantly decreased at 1-3 days and tended to be above control values at 21 days. Multicycle indentation showed that the brain tended to accumulate more strain (an indicator of viscosity) by 1 day after the contusion. Imaging and histological studies showed local edema and hemorrhage at 6 hours to 3 days and accumulation of reactive astrocytes, which began at 3 days and was pronounced by 21 days.Conclusions. The viscoelastic properties of living rat brain change following contusion. Initially, edema and tissue necrosis occur, and the brain becomes less elastic and less viscous. Later, along with undergoing reactive astroglial changes, the brain tends to become stiffer than normal. These quantitative data, which are related to the physical changes in the brain following trauma and which reflect subjective impressions upon palpation, will be useful for understanding emerging diagnostic tools such as magnetic resonance elastography.

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Section: Fig 3 Uppermentioning

confidence: 99%

Intracranial biomechanics following cortical contusion in live rats

Alfasi¹,

Shulyakov

Bigio

2013

JNS

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“…Over the last decade, robots have been used in health care for a wide range of applications, from surgical robots (Dogangil et al, 2010) to robots used for patient rehabilitation (Krebs et al, 2003). There have been many research projects on Robotic Ultrasound Systems, defined as the combination of ultrasound imaging with a robotic system in medical interventions (Priester et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

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“…Many reviews on medical and surgical robotics can be found in the literature. The reader is referred to [42], [43] for reviews on medical robotics, [44] for a tutorial on surgical robotics and [45]- [48] for more recent reviews on surgical robotics.…”

Section: Surgical Robots: Teleoperated Vs Hands-onmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

202

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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A review of medical robotics for minimally invasive soft tissue surgery

Cited by 201 publications

References 88 publications

Intracranial biomechanics following cortical contusion in live rats

Intracranial biomechanics following cortical contusion in live rats

An Ultrasound Robotic System Using the Commercial Robot UR5

Haptics in Robot-Assisted Surgery: Challenges and Benefits

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