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Macro Scale Surgical Robotics
CS223A: Advanced RoboticsEstevan Mendoza
May 28, 2010
The da Vinci & Zeus Surgical Systems
• 7 Degree of Freedom robotic arms
• Dual cameras on a robotic arm provide a 3-Dimensional view of the patient
• Master-slave control from a console
• Small, cable driven end effectors.
• Price: $1,500,000+
Robot/Human Comparison
Robot Human
• Poor judgment
• Does not adapt to new situations
• Limited haptic sensing
• Limited ability to process complex data in real time
• Prone to fatigue and lapses in attention
• Large end effectors
• Limited geometric accuracy
• Prone to infection
• Unsterile
Robot/Human Comparison
Robot Human
• Excellent geometric precision
• Immune to fatigue
•Immune to infection
• Can provide and process numerical data
• Small end effectors
• Sterile
• Excellent judgment
• Excellent hand/eye coordination
• Easily trained to perform new tasks
• Able to improvise
• Able to interpret and act on various forms of visual information.
• Excellent geometric precision
• Immune to fatigue
•Immune to infection
• Can provide and process numerical data
• Small end effectors
• Sterile
• Excellent judgment
• Excellent hand/eye coordination
• Easily trained to perform new tasks
• Able to improvise
• Able to interpret and act on various forms of visual information.
Zeus in Coronary Bypass Surgery
Open Chest SurgeryClosed Chest Surgery
Results of Coronary Bypass Surgery
• 6 patients total
• Males 60 years of age requiring a single bypass
• 5 patients were discharged to the ward the next day
• Total operative time: 6 hrs
• Time spent in the hospital: 4 days
• All patients return to work
• Follow-up appointments: 6 months
Limitations Robot Assisted Surgery
• Absence of touch and sensation during surgery
• Very expensive
• Requires more staff to operate and maintain hardware
• New technology that has still not proven its benefit to surgery
• Requires training for surgeons to learn to operate the system.
• Removal of the surgeon from the patient.
Future Improvements
HAPTICS
Benefits
• Give surgeons the impression that the end effectors tools are in their hands
• Improves safety during procedure
• Provides surgeon with feedback on the placement and forces applied on patients
Challenges
• Must add a force/torque sensor
• Must provide feedback to the hands
• Increase in computational payload
Future Improvements
Tele Surgery
Benefits
• Skilled surgeons can treat patients in distant locations
• No need for the surgeons to undergo sterilization
Challenges
• Time delay causes instabilities in robot control
• Requires more people to monitor the system hardware and software
• Surgeons do not receive instantaneous feedback
Assessment
• Many areas of improvement
• While results are still few, they look promising
• The benefits outweigh the consequences
• Surgical systems are very expensive and likely to become even more expensive with the addition of new features
• Surgical robots are a tool used to enhances surgeons better perform complicated tasks
• Video of da Vinci