Technical review of the da Vinci surgical telemanipulator

Freschi, Cinzia; Ferrari, Vincenzo; Melfi, Franca; Ferrari, Mauro; Mosca, Franco; Cuschieri, Alfred

doi:10.1002/rcs.1468

Cited by 235 publications

(150 citation statements)

References 59 publications

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“…However, no haptic feedback is still provided to the user. A detailed technical analyses of the da Vinci robotic surgical system can be found at [96].…”

Section: A General Minimally Invasive Surgerymentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

203

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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“…However, no haptic feedback is still provided to the user. A detailed technical analyses of the da Vinci robotic surgical system can be found at [96].…”

Section: A General Minimally Invasive Surgerymentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

203

131

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“…The passive joints of each arm are manually adjusted, locating the Remote Center of Motion (RCM) of the kinematic chain at the skin entry point of the abdomen, in order to maximize the instrument range of motion within the patient-specific workspace. Their reference systems {PSM1}, {PSM2}, and {ECM} are located in the respective RCM (Freschi et al, 2013). In order to know the relationship between the position of the tissue surface and the instrument end-effectors, a common reference system should be defined.…”

Section: System Calibrationmentioning

confidence: 99%

EnViSoRS: Enhanced Vision System for Robotic Surgery. A User-Defined Safety Volume Tracking to Minimize the Risk of Intraoperative Bleeding

et al. 2017

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In abdominal surgery, intraoperative bleeding is one of the major complications that affect the outcome of minimally invasive surgical procedures. One of the causes is attributed to accidental damages to arteries or veins, and one of the possible risk factors falls on the surgeon's skills. This paper presents the development and application of an Enhanced Vision System for Robotic Surgery (EnViSoRS), based on a user-defined Safety Volume (SV) tracking to minimize the risk of intraoperative bleeding. It aims at enhancing the surgeon's capabilities by providing Augmented Reality (AR) assistance toward the protection of vessels from injury during the execution of surgical procedures with a robot. The core of the framework consists in (i) a hybrid tracking algorithm (LT-SAT tracker) that robustly follows a user-defined Safety Area (SA) in long term; (ii) a dense soft tissue 3D reconstruction algorithm, necessary for the computation of the SV; (iii) AR features for visualization of the SV to be protected and of a graphical gage indicating the current distance between the instruments and the reconstructed surface. EnViSoRS was integrated with a commercial robotic surgical system (the dVRK system) for testing and validation. The experiments aimed at demonstrating the accuracy, robustness, performance, and usability of EnViSoRS during the execution of a simulated surgical task on a liver phantom. Results show an overall accuracy in accordance with surgical requirements (<5 mm), and high robustness in the computation of the SV in terms of precision and recall of its identification. The optimization strategy implemented to speed up the computational time is also described and evaluated, providing AR features update rate up to 4 fps, without impacting the real-time visualization of the stereo endoscopic video. Finally, qualitative results regarding the system usability indicate that the proposed system integrates well with the commercial surgical robot and has indeed potential to offer useful assistance during real surgeries.

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“…The field of robotic teleoperation has advanced significantly in the last decades and promising results have been achieved in several telemanipulation tasks, such as space exploration [1], minimally invasive surgery [2], sort and segregation of waste [3], telemaintenance [4], and micromanipulation [5]. As teleoperation systems become more sophisticated and flexible, the environments and applications in which they can be employed become less structured and predictable.…”

Section: Introductionmentioning

confidence: 99%

Teleoperation in cluttered environments using wearable haptic feedback

Bimbo

Pacchierotti

Aggravi

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Robotic teleoperation in cluttered environments is attracting increasing attention for its potential in hazardous scenarios, disaster response, and telemaintenance. Although haptic feedback has been proven effective in such applications, commercially-available grounded haptic interfaces still show significant limitations in terms of workspace, safety, transparency, and encumbrance. For this reason, we present a novel robotic teleoperation system with wearable haptic feedback for telemanipulation in cluttered environments. The slave system is composed of a soft robotic hand attached to a 6-axis force sensor, which is fixed to a 6-degrees-of-freedom robotic arm. The master system is composed of two wearable vibrotactile armbands and a Leap Motion. The armbands are worn on the upper arm and forearm, and convey information about collisions on the robotic arm and hand, respectively. The position of the manipulator and the grasping configuration of the robotic hand are controlled by the user's hand pose as tracked by the Leap Motion. To validate our approach, we carried out a human-subject telemanipulation experiment in a cluttered scenario. Twelve participants were asked to teleoperate the robot to grasp an object hidden between debris of various shapes and stiffnesses. Haptic feedback provided by our wearable devices significantly improved the performance of the considered telemanipulation tasks. All subjects but one preferred conditions with wearable haptic feedback.

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Technical review of the da Vinci surgical telemanipulator

Cited by 235 publications

References 59 publications

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Haptics in Robot-Assisted Surgery: Challenges and Benefits

EnViSoRS: Enhanced Vision System for Robotic Surgery. A User-Defined Safety Volume Tracking to Minimize the Risk of Intraoperative Bleeding

Teleoperation in cluttered environments using wearable haptic feedback

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