Robotic Surgical System
Today, many robots and robot enhancements are being researched and developed. Schurr et al at Eberhard Karls University’s section for minimally invasive surgery have developed a master-slave manipulator system that they call ARTEMIS. This system consists of 2 robotic arms that are controlled by a surgeon at a control console. Dario et al at the
MiTech laboratory of Scuola Superiore Sant’Anna in Italy have developed a prototype miniature robotic system for computer-enhanced colonoscopy. This system provides the same functions as conventional colonoscopy systems but it does so with an inchworm-like locomotion using vacuum suction.
By allowing the endoscopist to teleoperate or directly supervise this endoscope and with the functional integration of endoscopic tools, they believe this system is not only feasible but may expand the applications of endoluminal diagnosis and surgery. Several other laboratories, including the authors’, are designing and developing systems and models for reality-based haptic feedback in minimally invasive surgery and also combining visual servoing with haptic feedback for robot-assisted surgery.
In addition to Prodoc, ROBODOC and the systems mentioned above several other robotic systems have been commercially developed and approved by the FDA for general surgical use. These include the AESOP system (Computer Motion Inc., Santa Barbara, CA), a voice-activated robotic endoscope, and the comprehensive master-slave surgical robotic systems, Da Vinci (Intuitive Surgical Inc., Mountain View, CA) and Zeus (Computer Motion Inc., Santa Barbara, CA).
The da Vinci and Zeus
systems are similar in their capabilities but different in their approaches to
robotic surgery. Both systems are comprehensive master-slave surgical robots
with multiple arms operated remotely from a console with video assisted
visualization and computer enhancement. In the da Vinci system , which
evolved from the telepresence machines developed for NASA and the US Army,
there are essentially 3 components: a vision cart that holds a dual light
source and dual 3-chip cameras, a master console where the operating surgeon
sits, and a moveable cart, where 2 instrument arms and the camera arm are
mounted.
The camera arm contains dual cameras and the image generated is 3-dimensional. The master console consists of an image processing computer that generates a true 3-dimensional image with depth of field; the view port where the surgeon views the image; foot pedals to control electrocautery, camera focus, instrument/camera arm clutches, and master control grips that drive the servant robotic arms at the patient’s side.The instruments are cable driven and provide 7 degrees of freedom. This system displays its 3-dimensional image above the hands of the surgeon so that it gives the surgeon the illusion that the tips of the instruments are an extension of the control grips, thus giving the impression of being at the surgical site.
The camera arm contains dual cameras and the image generated is 3-dimensional. The master console consists of an image processing computer that generates a true 3-dimensional image with depth of field; the view port where the surgeon views the image; foot pedals to control electrocautery, camera focus, instrument/camera arm clutches, and master control grips that drive the servant robotic arms at the patient’s side.The instruments are cable driven and provide 7 degrees of freedom. This system displays its 3-dimensional image above the hands of the surgeon so that it gives the surgeon the illusion that the tips of the instruments are an extension of the control grips, thus giving the impression of being at the surgical site.
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