Toward lean minimally invasive robotic surgery

Abstract

Developed minimally invasive surgical (MIS) robots are large multi-ann, Multipurpose systems requiring significant Investments that limit their availability in hospitals. A larger distribution of MIS robots with benefit for patients might be achieved improving their modularity and scalability so that smaller hospitals or medical centers Could decide for a simpler and lower cost setup for a limited number of treatments only, while centers with higher funding could have more systems dedicated to different classes of operations. In line with this statement the paper proposes the paradigm of lean MIS system comprising a scalable set of modular, agile, small size single-instrument robots with limited life cycle cost. Miniaturization of instruments can further reduce invasiveness of procedures and one promising research direction is needle laparoscopic surgery, which can be applied to classes of operations oil small regions requiring small force Interaction with the patient. In the paper the development of a lean single-instrument manipulator for needlescopic surgery is presented and it new master concept for accurate restitution of surgical force proposed and discussed

Technical accuracy of optical and the electromagnetic tracking systems

“…As the use of surgical guidance devices has seen an increase in minimally invasive surgery (MIS) (Howe & Matsuoka 1999; Zoppi & Khan 2010; Stiehl et al 2007), the need for the accuracy requirements of the manipulators has also been realized. International organizations such as the American Society for Testing and Materials (ASTM) and other international organizations are making efforts to standardize medical robotics accuracy assessment (Howe & Matsuoka 1999; Zoppi & Khan 2010; Stiehl et al 2007; Haidegger et al 2010; Kroneif et al 2012).…”

“…International organizations such as the American Society for Testing and Materials (ASTM) and other international organizations are making efforts to standardize medical robotics accuracy assessment (Howe & Matsuoka 1999; Zoppi & Khan 2010; Stiehl et al 2007; Haidegger et al 2010; Kroneif et al 2012). Yet, there are no widely accepted methods or regulations.…”

Explicative Cases of Controversial Issues in Neurosurgery

“…There are several commercial solutions in operation for surgical robots such as Da Vinci, Minerva, NeuroMate and PathFinder just to mention few but not yet for operation in MRI devices (Zhijiang & Lining, 2003), (Dasgupta & Henderson, 2010), (Jaara, 2007). One solution for assistive surgery is the minimally surgically invasive (MIS) robot which is a large, multi-arm system (Zoppi et. al., 2010).…”

Design and modeling of a novel robotic arm with multiple-segment joints

“…It does not allow triangulation between two different points, which seriously limits the dexterity of surgeons. 5,6 In order to meet the requirements of miniaturization, dexterity, and collision avoidance with surgical tools, 7 a great deal of research about SPMIS had been done. Rubio et al.…”