Telepresence surgery demonstration system

Hill, John W.; Green, P.S.; Jensen, J.F.; Gorfu, Y.; Shah, A.

doi:10.1109/robot.1994.350942

Cited by 53 publications

(23 citation statements)

References 6 publications

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“…By controlling the relative orientations of the endoscope and slave manipulator, as well as the display and master, it is possible to maintain good display-control correspondence. This has been demonstrated by Hill et al [18] in an open surgical system by matching the (fixed) locations of these components as closely as possible to the normal eye-hand axes. It might be expected that using a stereoscopic imaging system would greatly improve performance, but this has not been the case with commercial laparoscopic systems to date [7].…”

Section: B Vision and Imagingmentioning

confidence: 89%

See 1 more Smart Citation

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

100

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Abstract-Many surgical procedures are now performed using the techniques of minimally invasive surgery (MIS), in which unnecessary trauma is limited by reducing the size of incisions to less than about 1 cm or by using catheters or endoscopes threaded through vessels, the gastrointestinal tract, or other tubular structures. Micromechatronic technologies have great potential to allow access to regions now inaccessible, or to enhance the surgeon's abilities in applications where current minimally invasive techniques do not permit the full range of human dexterity and perception. Key needs and applications in MIS are identified, and relevant technologies, methods, and systems issues in mechatronics are discussed. The authors' millirobotic system for MIS of the abdomen is used as an example.

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Section: B Vision and Imagingmentioning

confidence: 89%

“…A similar system, although not laparoscopic in its initial implementation, was developed at SRI International [18]. A laparoscopic system is now being evaluated.…”

Section: A Laparoscopic and Thoracoscopic Surgerymentioning

confidence: 99%

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

100

View full text Add to dashboard Cite

show abstract

“…Since the first telesurgical robot system [9] which was a couple of mechanical hands cabled to a remote handle, many successful works have been done in the field [3], [10], [11]. Brady and Tarn [6], developed a framework for extending teleoperation systems to Internet.…”

Section: Related Workmentioning

confidence: 99%

On secure and resilient telesurgery communications over unreliable networks

Tozal

Wang

Al-Shaer

et al. 2011

2011 IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS)

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Abstract-Telesurgical Robot Systems (TRSs) address mission critical operations emerging in extreme fields such as battlefields, underwater, and disaster territories. The lack of wirelined communication infrastructure in such fields makes the use of wireless technologies including satellite and ad-hoc networks inevitable. TRSs over wireless environments pose unique challenges such as preserving a certain reliability threshold, adhering some maximum tolerable delay, and providing various security measures depending on the nature of the operation and communication environment. In this study we present a novel approach that uses information coding to integrate both light-weight privacy and adaptive reliability in a single protocol called Secure and Statistically Reliable UDP (SSR-UDP). We prove that the offered security is equivalent to the existing AES-based long key crypto systems, yet, with significantly less computational overhead. Additionally, we demonstrate that the proposed scheme can meet high reliability and delay requirements of TRS applications in highly lossy environments while optimizing the bandwidth use. Our proposed SSR-UDP protocol can also be utilized in other similar cyber-physical wireless application domains.

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“…Robotic Surgical Assistants (RSAs): Tele-robotic or master/slave systems, such as the da Vinci R system [8], operate under direct control of the surgeon and offer improved precision and dexterity for minimally invasive procedures compared to non-robotic approaches [8], [15]. Some autonomous systems have been successfully used for performing surgeries on non-deformable tissue (such as bones) when detailed quantitative pre-operative plans of the procedure are available [29].…”

Section: Related Workmentioning

confidence: 99%

Toward automated tissue retraction in robot-assisted surgery

Patil

Alterovitz

2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-Robotic surgical assistants are enhancing physician performance, enabling physicians to perform more delicate and precise minimally invasive surgery. However, these devices are currently tele-operated and lack autonomy. In this paper, we present initial steps toward automating a commonly performed surgical task, tissue retraction, which involves grasping and lifting a thin layer of tissue to expose an underlying area. Given a model of tissues in the vicinity, our method computes a motion plan for a 6-DOF gripper that grasps a tissue flap at an optimal location and retracts it such that an underlying target is fully visible. The planner considers three optimization objectives relevant to medical applications: minimizing the maximum deformation energy, minimizing maximum stress, and minimizing the control effort in lifting the tissue flap. The planner can be used to locally improve physician specified retraction trajectories based on the optimization criteria or to compute a de novo plan. We use a physically-based simulation to compute equilibrium configurations of the tissue flap subject to manipulation constraints. These configurations are used with a sampling-based planner to explore the space of deformations and compute an optimal plan subject to discretization and modeling error. Our experimental results illustrate the ability of the method to compute retractions for heterogeneous tissues while avoiding obstacles and minimizing tissue damage.

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Telepresence surgery demonstration system

Cited by 53 publications

References 6 publications

Applications of micromechatronics in minimally invasive surgery

Applications of micromechatronics in minimally invasive surgery

On secure and resilient telesurgery communications over unreliable networks

Toward automated tissue retraction in robot-assisted surgery

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