Details
| Original language | English |
|---|---|
| Title of host publication | Adavances in Telerobotics |
| Editors | Manuel Ferre, Martin Buss, Claudio Melciorri, Carlos Balaguer |
| Pages | 361-379 |
| Number of pages | 19 |
| Publication status | Published - 2007 |
| Externally published | Yes |
Publication series
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Volume | 31 |
| ISSN (Print) | 1610-7438 |
| ISSN (electronic) | 1610-742X |
Abstract
Minimally invasive surgery characterizes a sophisticated operation technique in which long, slender instruments are inserted into the patient through small incisions. Though providing crucial benefits compared to open surgery (i.e. reduced tissue traumatization) it is also faced with a number of disadvantages. One of the major problems is that the surgeon cannot access the operating field directly and, therefore, can neither palpate tissue nor sense forces sufficiently. Furthermore, the dexterity of the surgeon is reduced as the instruments have to be pivoted around an invariant point. To overcome some of the drawbacks, telepresence constitutes a promising approach. The surgical instruments can be equipped with miniaturized force/torque sensors and contact forces can be displayed to the surgeon using a suitable man-machine interface. Furthermore, instruments can be built with additional degrees of freedom at the distal end, providing full dexterity inside the patient's body. Thanks to telepresence the surgeon regains direct access to the operating field, similar to open surgery. In this chapter a prototypical force reflecting minimally invasive robotic surgery system based on two surgical robots is presented. The robots are equipped with a sensorized scalpel and a stereo laparoscope for visual feedback. The operator console consists of a PHANToM force feedback device and a stereoscopic display. Experimental results of a tissue dissection task revealed significant differences between manual and robot assisted surgery. At the end of the chapter some conclusions based on the experimental evaluation are drawn, showing that both, manual and robotic minimally invasive surgery have specific advantages.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
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Adavances in Telerobotics. ed. / Manuel Ferre; Martin Buss; Claudio Melciorri; Carlos Balaguer. 2007. p. 361-379 (Springer Tracts in Advanced Robotics; Vol. 31).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Robot Assisted Force Feedback Surgery
AU - Ortmaier, Tobias
AU - Deml, Barbara
AU - Kübler, Bernhard
AU - Passig, Georg
AU - Reintsema, Detlef
AU - Seibold, Ulrich
PY - 2007
Y1 - 2007
N2 - Minimally invasive surgery characterizes a sophisticated operation technique in which long, slender instruments are inserted into the patient through small incisions. Though providing crucial benefits compared to open surgery (i.e. reduced tissue traumatization) it is also faced with a number of disadvantages. One of the major problems is that the surgeon cannot access the operating field directly and, therefore, can neither palpate tissue nor sense forces sufficiently. Furthermore, the dexterity of the surgeon is reduced as the instruments have to be pivoted around an invariant point. To overcome some of the drawbacks, telepresence constitutes a promising approach. The surgical instruments can be equipped with miniaturized force/torque sensors and contact forces can be displayed to the surgeon using a suitable man-machine interface. Furthermore, instruments can be built with additional degrees of freedom at the distal end, providing full dexterity inside the patient's body. Thanks to telepresence the surgeon regains direct access to the operating field, similar to open surgery. In this chapter a prototypical force reflecting minimally invasive robotic surgery system based on two surgical robots is presented. The robots are equipped with a sensorized scalpel and a stereo laparoscope for visual feedback. The operator console consists of a PHANToM force feedback device and a stereoscopic display. Experimental results of a tissue dissection task revealed significant differences between manual and robot assisted surgery. At the end of the chapter some conclusions based on the experimental evaluation are drawn, showing that both, manual and robotic minimally invasive surgery have specific advantages.
AB - Minimally invasive surgery characterizes a sophisticated operation technique in which long, slender instruments are inserted into the patient through small incisions. Though providing crucial benefits compared to open surgery (i.e. reduced tissue traumatization) it is also faced with a number of disadvantages. One of the major problems is that the surgeon cannot access the operating field directly and, therefore, can neither palpate tissue nor sense forces sufficiently. Furthermore, the dexterity of the surgeon is reduced as the instruments have to be pivoted around an invariant point. To overcome some of the drawbacks, telepresence constitutes a promising approach. The surgical instruments can be equipped with miniaturized force/torque sensors and contact forces can be displayed to the surgeon using a suitable man-machine interface. Furthermore, instruments can be built with additional degrees of freedom at the distal end, providing full dexterity inside the patient's body. Thanks to telepresence the surgeon regains direct access to the operating field, similar to open surgery. In this chapter a prototypical force reflecting minimally invasive robotic surgery system based on two surgical robots is presented. The robots are equipped with a sensorized scalpel and a stereo laparoscope for visual feedback. The operator console consists of a PHANToM force feedback device and a stereoscopic display. Experimental results of a tissue dissection task revealed significant differences between manual and robot assisted surgery. At the end of the chapter some conclusions based on the experimental evaluation are drawn, showing that both, manual and robotic minimally invasive surgery have specific advantages.
UR - http://www.scopus.com/inward/record.url?scp=34547995554&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-71364-7_22
DO - 10.1007/978-3-540-71364-7_22
M3 - Contribution to book/anthology
AN - SCOPUS:34547995554
SN - 3540713638
SN - 9783540713630
T3 - Springer Tracts in Advanced Robotics
SP - 361
EP - 379
BT - Adavances in Telerobotics
A2 - Ferre, Manuel
A2 - Buss, Martin
A2 - Melciorri, Claudio
A2 - Balaguer, Carlos
ER -