Image-Guided Motion Compensation for Robotic-Assisted Beating Heart Surgery

Moustris, George P.; Tzafestas, Costas S.

doi:10.1016/b978-0-12-814245-5.00021-9

Cited by 5 publications

(5 citation statements)

References 18 publications

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“…High-quality network is the foundation of satisfactory surgical outcomes. At present, the latency for most telesurgeries based on 5G networks is approximately 200ms, and is longer than telesurgeries based on wired network (12,(17)(18)(19). Worldwidely, most of areas have no access to the high-quality 5G signals meeting the requirement of robotic telesurgery, most of robots are placed in certain hospitals.…”

Section: The Practical Signi Cance Of "5g Wireless + Wired Network" I...mentioning

confidence: 99%

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"5G wireless + wired network" based multi-console robotic telesurgery accommodates to the complicated surgeries and various network infrastructure

Ye,

Ding,

et al. 2024

Preprint

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Robotic telesurgery is applying to more complicated operations. However, single-console robotic surgery and wired networks are inconvenient for intraoperative multidisciplinary collaboration. 5G wireless requires the setup of base stations. We proposed a new model for robotic telesurgery, utilizing multiple consoles and "5G wireless + wired network". In the study, the three-console robotic telesurgery was performed by Kangduo Surgical Robot-01. The patient cart and one surgeon console were in Liaoyang City Central Hospital; the other two consoles were in Peking Union Medical College Hospital in Beijing, approximately 700km away from the patient. The consoles in Beijing and Liaoyang were connected to the backbone network via 5G wireless and wired networks, respectively. In our study, the "5G wireless + wired network" based multi-console robotic telesurgery of left radical nephrectomy was performed successfully without intraoperative adverse event. The 3D video and signals from consoles were transmitted stably. The control of the robot from all consoles were consistent. The signal coverage was 100%, the average latency was 220ms without packet loss. In conclusion, multi-console robotic system is crucial for surgical safety, complicated telesurgery, and intraoperative teaching. The "5G wireless + wired network" model bears advantages of both networks, and is suitable for most telesurgeries.

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Section: The Practical Signi Cance Of "5g Wireless + Wired Network" I...mentioning

confidence: 99%

“…Firstly, latency is the most crucial parameter for telesurgery. A latency of 0-200ms is most ideal, ≥ 300 ms leads to the deterioration of skill (17,20). Therefore, the primary challenge of telesurgery is to minimize latency as much as possible.…”

Section: Challenges In Multi-console Telesurgeriesmentioning

confidence: 99%

"5G wireless + wired network" based multi-console robotic telesurgery accommodates to the complicated surgeries and various network infrastructure

Ye,

Ding,

et al. 2024

Preprint

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“…Low-level connection has the potential to close the loop on intraoperative changes in real-time [74,75]. For example, a recent paper surveys the specific issue of motion compensation in beating heart surgery [76]. These aspects raise questions about the autonomous capabilities of robots.…”

Section: Artificial Intelligence In Interventional Roboticsmentioning

confidence: 99%

Image-Guided Interventional Robotics: Lost in Translation?

2022

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Interventional robotic systems have been deployed with all existing imaging modalities, in an expansive portfolio of therapies and surgeries. Over the years, literature reviews have painted a comprehensive portrait of the translation of the underlying technology from research to practice. While many of these robots performed promisingly in pre-clinical settings, only a handful of them managed to evolve further, and break through the commercialization boundary, and even fewer reached a wide-scale adoption. Despite the undeniable success of service robotics in general, and particularly in some sophisticated medical applications, image-guided robotics' impact remained modest compared to other surgical areas, especially laparoscopic minimally invasive surgery. This article aims to embrace the stateof-the-art on one hand, and to provide a comprehensive narrative to the situation described, to support future system developers and facilitating the translation from scientific research to applied clinical technology development.

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“…To this date, certain force feedback compensation methods are proposed to solve this problem 20–24 . In these methods, the system is divided into three modules: mechanical capture, path planning and motion compensation.…”

Section: Introductionmentioning

confidence: 99%

“…To this date, certain force feedback compensation methods are proposed to solve this problem. [20][21][22][23][24] In these methods, the system is divided into three modules: mechanical capture, path planning and motion compensation. The mechanical captural module uses the interactive force between tissue and surgical instruments as an indirect response to tissue deformation.…”

mentioning

confidence: 99%

A robotic puncture system with optical and mechanical feedback under respiratory motion

Zhang

Bao

et al. 2022

Robotics Computer Surgery

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Puncture robot can improve the accuracy and efficiency of puncture surgery, such as thoracoabdominal and liver puncture. However, as soft tissue is deformed and shifted under respiratory motion and during the puncture process, the needle is pulled, resulting in the needle's bending and deformation, which increases the risks and sufferings of the patient, a robotic puncture system with optical and mechanical feedback is necessary. Therefore, this paper proposes a multi-information sensing 'guide-clamp' end effector for puncture surgery to accurately detect the posture and force on the puncture needle in real time. And gravity bias method with trajectory planning and the compensational controlling model are also proposed to offset the interference of self-weight and achieve zero force following. This system is evaluated by the experiments of robot controlling and human tissue simulation and the results prove the excellent robustness of the system, which meet the clinical requirement.

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Image-Guided Motion Compensation for Robotic-Assisted Beating Heart Surgery

Cited by 5 publications

References 18 publications

"5G wireless + wired network" based multi-console robotic telesurgery accommodates to the complicated surgeries and various network infrastructure

"5G wireless + wired network" based multi-console robotic telesurgery accommodates to the complicated surgeries and various network infrastructure

Image-Guided Interventional Robotics: Lost in Translation?

A robotic puncture system with optical and mechanical feedback under respiratory motion

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