TY - GEN
T1 - Multidisciplinary approach for developing a new minimally invasive surgical robotic system
AU - Lum, Mitchell J.H.
AU - Trimble, Denny
AU - Rosen, Jacob
AU - Fodero, Kenneth
AU - King, H. Hawkeye
AU - Sankaranarayanan, Ganesh
AU - Dosher, Jesse
AU - Leuschke, Rainer
AU - Martin-Anderson, Brandon
AU - Sinanan, Mika N.
AU - Hannaford, Blake
PY - 2006
Y1 - 2006
N2 - The synergy between fundamental science, engineering and medicine is constantly evolving while providing physicians with better tools and techniques for delivering patients effective health care. Minimally invasive surgery (MIS) revolutionized the way in which a number of surgical procedures are performed resulting in quicker postoperative recovery times. Surgical robotics provides a new paradigm to further improve MIS interventions. As part of an extensive experimental protocol, the kinematics and the dynamics of MIS tools were acquired from 30 surgeons who performed seven different minimally invasive surgical tasks. These tasks included tissue manipulation, tissue dissection and suturing in-vivo while using the Blue Dragon system and a porcine model. This database served as a design specification for a kinematic optimization of a spherical surgical robotic manipulator. Following the optimization that determined key geometrical dimensions of the robot, a 7-DOF cable-actuated surgical manipulator was designed and integrated, providing all the degrees of freedom of manual MIS as well as wrist joints located at the surgical end-effector. The surgical robotic system is teleoperated utilizing a single bi-directional UDP socket via a remote master device. This multidisciplinary approach of designing and optimizing the surgical robotic system will lead to a seamless integration into the operating room of the future.
AB - The synergy between fundamental science, engineering and medicine is constantly evolving while providing physicians with better tools and techniques for delivering patients effective health care. Minimally invasive surgery (MIS) revolutionized the way in which a number of surgical procedures are performed resulting in quicker postoperative recovery times. Surgical robotics provides a new paradigm to further improve MIS interventions. As part of an extensive experimental protocol, the kinematics and the dynamics of MIS tools were acquired from 30 surgeons who performed seven different minimally invasive surgical tasks. These tasks included tissue manipulation, tissue dissection and suturing in-vivo while using the Blue Dragon system and a porcine model. This database served as a design specification for a kinematic optimization of a spherical surgical robotic manipulator. Following the optimization that determined key geometrical dimensions of the robot, a 7-DOF cable-actuated surgical manipulator was designed and integrated, providing all the degrees of freedom of manual MIS as well as wrist joints located at the surgical end-effector. The surgical robotic system is teleoperated utilizing a single bi-directional UDP socket via a remote master device. This multidisciplinary approach of designing and optimizing the surgical robotic system will lead to a seamless integration into the operating room of the future.
KW - Spherical
KW - Surgical robot
KW - Teleoperation
KW - Telesurgery
UR - http://www.scopus.com/inward/record.url?scp=33845573038&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845573038&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639195
DO - 10.1109/BIOROB.2006.1639195
M3 - Conference contribution
AN - SCOPUS:33845573038
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 841
EP - 846
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -