Telerobotics in medicine and surgery

Lirici, Marco Maria; Papaspyropoulos, Vassilios; Angelini, L.

doi:10.3109/13645709709153336

Cited by 25 publications

(11 citation statements)

References 23 publications

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“…Several devices have already entered the preclinical testing phase, and it appears highly probable that master-slave manipulators will soon be in practical surgical use. The role of robotics in the further development of surgery might not be as decisive as it was for production technology in the 1970s and 1980s, but it will help to move endoscopic surgery forward and to enhance surgical capabilities in various fields [19].…”

Section: Discussionmentioning

confidence: 99%

Robotics and telemanipulation technologies for endoscopic surgery

Schurr

Bueß

Neisius³

et al. 2000

Surg Endosc

140

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In endoscopic surgery, the ability to guide the instrument is significantly decreased compared with open surgery. Rigid laparoscopic instruments offer only four of the six degrees of freedom required for the free handling of objects in space. Robotics technology can be used to restore full mobility of the endoscopic instrument. Therefore, we designed a master-slave manipulator system (ARTEMIS) for laparoscopic surgery as a prototype. The system consists of two robotic arms holding two steerable laparoscopic instruments. These two work units are controlled from a console equipped with two master arms operated by the surgeon. The systems and its components were evaluated experimentally. Laparoscopic manipulations were feasible with the ARTEMIS system. The placement of ligatures and sutures and the handling of catheters were possible in phantom models. The surgical practicability of the system was demonstrated in animal experiments. We conclude that robotic manipulators are feasible for experimental endoscopic surgery. Their clinical application requires further technical development.

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Section: Discussionmentioning

confidence: 99%

Robotics and telemanipulation technologies for endoscopic surgery

Schurr

Bueß

Neisius³

et al. 2000

Surg Endosc

140

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“…In der Medizin finden sich zahlreiche Anwendungsbereiche von Robotern, z. B. automatische Laboruntersuchungsgeräte, Hilfsmittel für Behinderte oder Maschinen zu Durchführung schwieriger chirurgischer Eingriffe ( [36]; Tabelle 1). In jüngster Zeit wurden Industrieroboter umfunktioniert, um exakt und zuverläs-sig den Femurschaft vor Einlage einer Hüftprothese auszufräsen [46].…”

Section: Zusammenfassungunclassified

“…Das Konzept intelligent steuerbarerer chirurgischer Instrumente ist bereits von einigen Autoren vorgestellt worden[36,56,61]. Der erste funktionsfähige Master-slave-Manipulator wurde 1991 von Green eingeführt[26].…”

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Geometrie der Laparoskopie,, Telechirurgie, Training und Telementoring

Rassweiler

Frede

2002

Urologe [A]

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Laparoscopic surgery in general is handicapped by the reduction of the range of motion from 6 to 4 degrees of freedom. This has a major impact on technically difficult procedures such as laparoscopic radical prostatectomy. Solutions for this problem include understanding the geometry of laparoscopy with sophisticated training programs, but also newly developed surgical robots, computer simulators, and telementoring. This article evaluates the value of these alternatives based on own experience and an analysis of the current literature. Our experience with robot-assisted surgery includes 244 laparoscopic radical prostatectomies using a voice-controlled camera arm (AESOP) and 6 telesurgical interventions with the da Vinci system. Additionally, experimental studies were performed focussing on the geometry of laparoscopy and new training concepts such as perfused pelvitrainers and computer simulation. Three-dimensional systems have not yet proved to be effective due to handling problems such as shutter glasses, video helmets, or reduced brightness. At present, there are only two robotic surgical systems (ZEUS, da Vinci) in clinical use for telesurgery, of which only the da Vinci provides stereovision and all 6 degrees of freedom (DOF). In the meantime, more than 100 laparoscopic radical prostatectomies have been performed with this system. However, there was no evidence of any advantages over the conventional laparoscopic approach. The ZEUS in combination with the telecommunication system SOKRATES is the only device that enables telemanipulation and telementoring over long distances (i.e., transatlantic). Robotic surgery represents a turning point in surgical research. However, broad use of robotic systems is limited mainly because of high investment and running costs. Whereas audiovisual telementoring will play a clear role in future training concepts, the need for telemanipulation or telesurgery has not yet been clarified.

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“…4 It is also finding applications in medical surgery. 5 A teleoperation system includes two robots with a remote slave robot tracking the master robot movement. The master robot is controlled by a human operator.…”

Section: Introductionmentioning

confidence: 99%

Chattering‐free fixed‐time sliding mode control for bilateral teleoperation under unknown time‐varying delay via disturbance and state observers

et al. 2020

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This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode Control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOB-SMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB.

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Telerobotics in medicine and surgery

Cited by 25 publications

References 23 publications

Robotics and telemanipulation technologies for endoscopic surgery

Robotics and telemanipulation technologies for endoscopic surgery

Geometrie der Laparoskopie,, Telechirurgie, Training und Telementoring

Chattering‐free fixed‐time sliding mode control for bilateral teleoperation under unknown time‐varying delay via disturbance and state observers

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