Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Erschienen in:
Introduction Kapitel lesen Erstes Kapitel lesen

2008 | OriginalPaper | Buchkapitel

52. Medical Robotics and Computer-Integrated Surgery

verfasst von : Russell H. Taylor, Prof, Arianna Menciassi, Prof, Gabor Fichtinger, Dr., Paolo Dario, Prof

Erschienen in: Springer Handbook of Robotics

Verlag: Springer Berlin Heidelberg

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

The growth of medical robotics since the mid-1980s has been striking. From a few initial efforts in stereotactic brain surgery, orthopaedics, endoscopic surgery, microsurgery, and other areas, the field has expanded to include commercially marketed, clinically deployed systems, and a robust and exponentially expanding research community. This chapter will discuss some major themes and illustrate them with examples from current and past research. Further reading providing a more comprehensive review of this rapidly expanding field is suggested in Sect. 52.4.
Medical robots may be classified in many ways: by manipulator design (e.g., kinematics, actuation); by level of autonomy (e.g., preprogrammed versus teleoperation versus constrained cooperative control), by targeted anatomy or technique (e.g., cardiac, intravascular, percutaneous, laparoscopic, microsurgical); or intended operating environment (e.g., in-scanner, conventional operating room). In this chapter, we have chosen to focus on the role of medical robots within the context of larger computer-integrated systems including presurgical planning, intraoperative execution, and postoperative assessment and follow-up.
First, we introduce basic concepts of computer-integrated surgery, discuss critical factors affecting the eventual deployment and acceptance of medical robots, and introduce the basic system paradigms of surgical computer-assisted planning, registration, execution, monitoring, and assessment (CAD/CAM) and surgical assistance. In subsequent sections, we provide an overview of the technology of medical robot systems and discuss examples of our basic system paradigms, with brief additional discussion topics of remote telesurgery and robotic surgical simulators. We conclude with some thoughts on future research directions and provide suggested further reading.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Jetzt informieren
Vorheriges Kapitel Intelligent Vehicles
Nächstes Kapitel Rehabilitation and Health Care Robotics
Literatur
52.1.
R.H.L. Taylor Joskowicz: Computer-integrated surgery and medical robotics. In: Standard Handbook of Biomedical Engineering and Design, ed. by M. Kutz (McGraw Hill, New York 2003) pp. 29.23–29.45
52.2.
G.S. Guthart, J.K. Salisbury: The intuitive telesurgery system: overview and application, IEEE Int. Conf. Robot. Autom. (ICRA2000) (San Francisco 2000) pp. 618–621
52.3.
R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z.X. Wang, E. deJuan, L. Kavoussi: Steady-hand robotic system for microsurgical augmentation, Int. J. Robot. Res. 18, 1201–1210 (1999)CrossRef
52.4.
D. Rothbaum, J. Roy, G. Hager, R. Taylor, L. Whitcomb: Task performance in stapedotomy: comparison between surgeons of different experience levels, Otolaryngol. Head Neck Surg. 128, 71–77 (2003)CrossRef
52.5.
J.R. Adler, M.J. Murphy, S.D. Chang, S.L. Hankock: Image guided robotic radiosurgery, Neurosurgery 44(6), 1299–1306 (1999)CrossRef
52.6.
A. Amin, J. Grossman, W. P: Early experience with a computerized robotically controlled catheter system, J. Int. Card. Electrophysiol., Vol. 12 (2005) pp. 199–202
52.7.
L. Mettler, M. Ibrahim, W. Jonat: One year of experience working with the aid of a robotic assistant (the voice-controlled optic holder AESOP) in gynaecological endoscopic surgery, Hum. Reprod. 13, 2748–2750 (1998)
52.8.
R.H. Taylor, H.A. Paul, P. Kazandzides, B.D. Mittelstadt, W. Hanson, J.F. Zuhars, B. Williamson, B.L. Musits, E. Glassman, W.L. Bargar: An image-directed robotic system for precise orthopaedic surgery, IEEE Trans. Robot. Autom., Vol. 10 (1994) pp. 261–275
52.9.
P. Kazanzides, B.D. Mittelstadt, B.L. Musits, W.L. Bargar, J.F. Zuhars, B. Williamson, P.W. Cain, E.J. Carbone: An integrated system for cementless hip replacement, IEEE Eng. Med. Biol. 14, 307–313 (1995)CrossRef
52.10.
Q. Li, L. Zamorano, A. Pandya, R. Perez, J. Gong, F. Diaz: The application accuracy of the NeuroMate robot – A quantitative comparison with frameless and frame-based surgical localization systems, Comput. Assisted Surg. 7(2), 90–98 (2002)
52.11.
P. Cinquin, J. Troccaz, J. Demongeot, S. Lavallee, G. Champleboux, L. Brunie, F. Leitner, P. Sautot, B. Mazier, A. Perez, M. Djaid, T. Fortin, M. Chenic, A. Chapel: IGOR: image guided operating robot, Innovation Technonogie Biologie Med. 13, 374–394 (1992)
52.12.
H. Reichenspurner, R. Demaino, M. Mack, D. Boehm, H. Gulbins, C. Detter, B. Meiser, R. Ellgass, B. Reichart: Use of the voice controlled and computer-assisted surgical system Zeus for endoscopic coronary artery surgery bypass grafting, J. Thoracic Cardiovasc. Surg. 118, 11–16 (1999)CrossRef
52.13.
Y.S. Kwoh, J. Hou, E.A. Jonckheere, S. Hayati: A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery, IEEE Trans. Biomed. Eng. 35, 153–161 (1988)CrossRef
52.14.
J.M. Sackier, Y. Wang: Robotically assisted laparoscopic surgery. From concept to development, Surg. Endosc. 8, 63–66 (1994)CrossRef
52.15.
D. Stoianovici, L. Whitcomb, J. Anderson, R. Taylor, L. Kavoussi: A modular surgical robotic system for image-guided percutaneous procedures, Med. Image Comput. Comput.-Assisted Interventions (MICCAI-98) (Cambridge 1998) pp. 404–410
52.16.
R.H. Taylor, J. Funda, B. Eldridge, K. Gruben, D. LaRose, S. Gomory, M. Talamini, L.R. Kavoussi, J. Anderson: A telerobotic assistant for laparoscopic surgery, IEEE Eng. Med. Biol. Mag. 14, 279–287 (1995)CrossRef
52.17.
M. Mitsuishi, T. Watanabe, H. Nakanishi, T. Hori, H. Watanabe, B. Kramer: A telemicrosurgery system with colocated view and operation points and rotational-force-feedback-free master manipulator, 2nd Int. Symp. Med. Robot. Comput. Assisted Surg. (Baltimore 1995) pp. 111–118
52.18.
N. Simaan, R. Taylor, P. Flint: High dexterity snake-like robotic slaves for minimally invasive telesurgery of the throat, Int. Symp. Med. Image Comput. Comput.-Assisted Interventions (2004) pp. 17–24
52.19.
K. Ikuta, M. Tsukamoto, S. Hirose: Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope. In: Computer-Integrated Surgery, ed. by R.H. Taylor, S. Lavallee, G. Burdea, R. Mosges (MIT Press, Cambridge 1996) pp. 277–282
52.20.
A. Menciassi, C. Stefanini, S. Gorini, G. Pernorio, P. Dario, B. Kim, J.O. Park: Legged locomotion in the gastrointestinal tract problem analysis and preliminary technological activity, IEEE/RSJ Int. Conf. Intell. Robots Syst. (2004) pp. 937–942
52.21.
K. Ikuta, H. Ichikawa, K. Suzuki, D. Yajima: Multi-degree of freedom hydraulic pressure driven safety active catheter, IEEE Int. Conf. Robot. Autom. (Orlando 2006) pp. 4161–4166
52.22.
S. Guo, J. Sawamoto, Q. Pan: A novel type of microrobot for biomedical application, IEEE/RSJ Int. Conf. Intell. Robots Syst. (2005) pp. 1047–1052, .
52.23.
N. Patronik, C. Riviere, S.E. Qarra, M.A. Zenati: The heartlander: a novel epicardial crawling robot for myocardial injections, 19th Int. Congress Comput. Assisted Radiology Surg. (2005) pp. 735–739
52.24.
P. Dario, B. Hannaford, A. Menciassi: Smart surgical tools and augmenting devices, IEEE Trans. Robot. Autom, Vol. 19 (2003) pp. 782–792
52.25.
L. Phee, D. Accoto, A. Menciassi, C. Stefanini, M.C. Carrozza, P. Dario: Analysis and development of locomotion devices for the gastrointestinal tract, IEEE Trans. Biomed. Eng., Vol. 49 (2002) pp. 613–616
52.26.
N. Suzuki, M. Hayashibe, A. Hattori: Development of a downsized master-slave surgical robot system for intragastic surgery, ICRA Surg. Robot. Workshop (Barcelona 2005)
52.27.
K. Ikuta, K. Yamamoto, K. Sasaki: Development of remote microsurgery robot and new surgical procedure for deep and narrow space, IEEE Conf. Robot. Autom. (Taiwan 2003) pp. 1103–1108
52.28.
C. Plaskos, P. Cinquin, S. Lavallee, A.J. Hodgson: Praxiteles: a miniature bone-mounted robot for minimal access total knee arthroplasty, Int. J. Med. Robot. Comput. Assisted Surg., Vol. 1 (2005) pp. 67–79
52.29.
P.J. Berkelman, L. Whitcomb, R. Taylor, P. Jensen: A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation, IEEE Trans. Robot. Autom., Vol. 19 (2003) pp. 917–922
52.30.
K. Chinzei, R. Gassert, E. Burdet: Workshop on MRI/fMRI compatible robot technology - a critical tool for neuroscience and image guided intervention, IEEE Int. Conf. on Robot. Autom. (Orlando 2006)
52.31.
M. Jakopec, S.J. Harris, F.R.Y. Baena, P. Gomes, J. Cobb, B.L. Davies: The first clinical application of a hands-on robotic knee surgery system, Comput. Aided Surg. 6, 329–339 (2001)
52.32.
D.F. Louw, T. Fielding, P.B. McBeth, D. Gregoris, P. Newhook, G.R. Sutherland: Surgical robotics: A review and neurosurgical prototype development, Neurosurgery 54, 525–537 (2004)CrossRef
52.33.
J. Marescaux, J. Leroy, M. Gagner, F. Rubino, D. Mutter, M. Vix, S.E. Butner, M.K. Smith: Transatlantic robot-assisted telesurgery, Nature 413, 379–380 (2001)CrossRef
52.34.
M. Anvari, T. Broderick, H. Stein, T. Chapman, M. Ghodoussi, D.W. Birch, C. Mckinley, P. Trudeau, S. Dutta, C.H. Goldsmith: The impact of latency on surgical precision and task completion during robotic-assisted remote telepresence surgery, Comput. Aided Surg. 10, 93–99 (2005)
52.35.
M. Li, M. Ishii, R.H. Taylor: Spatial motion constraints in medical robot using virtual fixtures generated by anatomy, IEEE Trans. Robot. 23, 4–19 (2007)CrossRef
52.36.
S. Park, R.D. Howe, D.F. Torchiana: Virtual fixtures for robotic cardiac surgery, Fourth Int. Conf. Med. Image Comput. Computer-Assisted Intervention (2001)
52.37.
B. Davies: A discussion of safety issues for medical robots. In: Computer-Integrated Surgery, ed. by R. Taylor, S. Lavallee, G. Burdea, R. Moesges (MIT Press, Cambridge 1996) pp. 287–296
52.38.
P. Varley: Techniques of development of safety-related software in surgical robots, IEEE Trans. Inform. Technol. Biomed. 3, 261–267 (1999)CrossRef
52.39.
J.B. Maintz, M.A. Viergever: A survey of medical image registration, Med. Image Anal. 2, 1–37 (1998)CrossRef
52.40.
S. Lavallee: Registration for computer-integrated surgery: methodology, state of the Art. In: Computer-Integrated Surgery, ed. by R.H. Taylor, S. Lavallee, G. Burdea, R. Mosges (MIT Press, Cambridge 1996) pp. 77–98
52.41.
P.J. Besl, N.D. McKay: A method for registration of 3-D shapes, IEEE Trans. Pattern Anal. Machine Intell. 14, 239–256 (1992)CrossRef
52.42.
R.J. Maciunas: Interactive Image-Guided Neurosurgery (Am. Association Neurological Surg., USA 1993)
52.43.
R.H. Taylor, H.A. Paul, C.B. Cutting, B. Mittelstadt, W. Hanson, P. Kazanzides, B. Musits, Y.Y. Kim, A. Kalvin, B. Haddad, D. Khoramabadi, D. Larose: Augmentation of human precision in computer-integrated surgery, Innov. Technol. Biol. Med. 13, 450–459 (1992)
52.44.
J. Troccaz, M. Peshkin, B. Davies: The use of localizers, robots and synergistic devices in CAS, CVRMed-MRCAS 1205, 727–736 (1997)
52.45.
G. Fichtinger, A. Degeut, M. K, E. Balogh, G. Fischer, H. Mathieu, R.H. Taylor, S. Zinreich, L.M. Fayad: Image overlay guidance for needle insertion on CT scanner, IEEE Trans. Biomed. Eng. 52, 1415–1424 (2005)CrossRef
52.46.
T. Akinbiyi, C.E. Reiley, S. Saha, D. Burschka, C.J. Hasser, D.D. Yuh, A.M. Okamura: Dynamic augmented reality for sensory substitution in robot-assisted surgical systems, 28th Annu. Int. Conf. IEEE Eng. Med. Biology Society (2006) pp. 567–570
52.47.
J. Leven, D. Burschka, R. Kumar, G. Zhang, S. Blumenkranz, X. Dai, M. Awad, G. Hager, M. Marohn, M. Choti, C. Hasser, R.H. Taylor: DaVinci canvas: a telerobotic surgical system with integrated, robot-assisted, laparoscopic ultrasound capability, Med. Image Comput. Computer-Assisted Interventions (Palm Springs 2005)
52.48.
S. Solomon, A. Patriciu, R.H. Taylor, L. Kavoussi, D. Stoianovici: CT guided robotic needle biopsy: a precise sampling method minimizing radiation exposure, Radiology 225, 277–282 (2002)CrossRef
52.49.
K. Masamune, G. Fichtinger, A. Patriciu, R. Susil, R. Taylor, L. Kavoussi, J. Anderson, I. Sakuma, T. Dohi, D. Stoianovici: System for robotically assisted percutaneous procedures with computed tomography guidance, J. Comput. Assisted Surg. 6, 370–383 (2001)CrossRef
52.50.
A. Krieger, R.C. Susil, C. Menard, J.A. Coleman, G. Fichtinger, E. Atalar, L.L. Whitcomb: Design of a novel MRI compatible manipulator for image guided prostate intervention, IEEE Trans. Biomed. Eng. 52, 306–313 (2005)CrossRef
52.51.
G.A. Krombach, T. Schmitz-Rode, B.B. Wein, J. Meyer, J.E. Wildberger, K. Brabant, R.W. Gunther: Potential of a new laser target system for percutaneous CT-guided nerve blocks: technical note, Neuroradiology 42, 838–841 (2000)CrossRef
52.52.
M. Rosenthal, A. State, J. Lee, G. Hirota, J. Ackerman, K. Keller, E.D. Pisano, M. Jiroutek, K. Muller, H. Fuchs: Augmented reality guidance for needle biopsies: a randomized, controlled trial in phantoms, Fourth Int. Conf. Med. Image Comput. Computer-Assisted Intervention (2001) pp. 240–248
52.53.
G. Stetten, V. Chib: Overlaying ultrasound images on direct vision, J. Ultrasound Med. 20, 235–240 (2001)
52.54.
H.F. Reinhardt: Neuronagivation: a ten years review. In: Computer-Integrated Surgery, ed. by R. Taylor, S. Lavallée, G. Burdea, R. Moegses (MIT Press, Cambridge 1996) pp. 329–342
52.55.
E. Hempel, H. Fischer, L. Gumb, T. Hohn, H. Krause, U. Voges, H. Breitwieser, B. Gutmann, J. Durke, M. Bock, A. Melzer: An MRI-compatible surgical robot for precise radiological interventions, Comput. Aided Surg. 8, 180–191 (2003)CrossRef
52.56.
Z. Wei, G. Wan, L. Gardi, G. Mills, D. Downey, A. Fenster: Robot-assisted 3D-TRUS guided prostate brachytherapy: system integration and validation, Med. Phys. 31, 539–548 (2004)CrossRef
52.57.
E. Boctor, G. Fischer, M. Choti, G. Fichtinger, R.H. Taylor: Dual-armed robotic system for intraoperative ultrasound guided hepatic ablative therapy: a prospective study, IEEE Int. Conf. Robot. Autom. (2004) pp. 377–382
52.58.
J. Hong, T. Dohi, M. Hashizume, K. Konishi, N. Hata: An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy, Phys. Med. Biol. 49, 441–455 (2004)CrossRef
52.59.
G. Megali, O. Tonet, C. Stefanini, M. Boccadoro, V. Papaspyropoulis, L. Angelini, P. Dario: A computer-assisted robotic ultrasound-guided biopsy system for video-assisted surgery, Med. Image Comput. Computer-Assisted Intervention – MICCAI 2001 (Utrecht 2001) pp. 343–350
52.60.
S. Okazawa, R. Ebrahimi, J. Chuang, S. Salcudean, R. Rohling: Hand-held steerable needle device, IEEE/ASME Trans. Mechatron. 10, 285–296 (2005)CrossRef
52.61.
R.J. Webster III, J.S. Kim, N.J. Cowan, G.S. Chirikjian, A.M. Okamura: Nonholonomic modeling of needle steering, Int. J. Robot. Res. 25(5-6), 509–525 (2006)CrossRef
52.62.
J. Engh, G. Podnar, D. Kondziolka, C. Riviere: Toward effective needle steering in brain tissue, 28th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc. (2006) pp. 559–562
52.63.
G.H. Ballantyne: Robotic surgery, telerobotic surgery, telepresence and telementoring, Surg. Endosc. 16, 1389 (2002)CrossRef
52.64.
J.A. McEwen, C.R. Bussani, G.F. Auchinleck, M.J. Breault: Development and initial clinical evaluation of pre-robotic and robotic retraction systems for surgery, Second Workshop Med. Health Care Robot. (Newcastle 1989) pp. 91–101
52.65.
P. Berkelman, P. Cinquin, J. Troccaz, J. Ayoubi, C. Letoublon, F. Bouchard: A compact, compliant laparoscopic endoscope manipulator, IEEE Int. Conf. Robot. Aut. (2002) pp. 1870–1875
52.66.
A. Nishikawa, T. Hosoi, K. Koara, T. Dohi: FAce MOUSe: A novel human-machine interface for controlling the position of a laparoscope, IEEE Trans Robot. Autom. 19, 825–841 (2003)CrossRef
52.67.
A. Krupa, J. Gangloff, C. Doignon, M.F. deMathelin, G. Morel, J. Leroy, L. Soler, J. Marescaux: Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing, IEEE Trans. Robot. Autom. 19, 842–853 (2003)CrossRef
52.68.
P. Green, R. Satava, J. Hill, I. Simon: Telepresence: advanced teleoperator technology of minimally invasive surgery (abstract), Surg. Endosc. 6, 90 (1992)CrossRef
52.69.
T. Ahlering, D. Woo, L. Eichel, D. Lee, R. Edwards, D. Skarecky: Robot-assisted versus open radical prostatectomy: a comparison of one surgeonʼs outcomes, Urology 63, 819–822 (2004)CrossRef
52.70.
J. Rosen, J.D. Brown, L. Chang, M. Barreca, M. Sinanan, B. Hannaford: The BlueDRAGON – a system for measuring the kinematics and the dynamics of minimally invasive surgical tools in-vivo, IEEE Int. Conf. Robot. Autom. (2002) pp. 1876–1881
52.71.
H.C. Lin, I. Shafran, T.E. Murphy, A.M. Okamura, D.D. Yuh, G.D. Hager: Automatic detection and segmentation of robot-assisted surgical motions, MICCAI (2005) pp. 802–810
52.72.
H. Mayer, F. Gomez, D. Wierstra, I. Nagy, A. Knoll, J. Schmidhuber: A system for robotic heart surgery that learns to tie knots using recurrent neural networks, Int. Conf. Intell. Robot. Syst. (IROS) (2006) pp. 543–548
52.73.
J. Schiff, P. Li, M. Goldstein: Robotic microsurgical vasovasostomy and vasoepididymostomy: a prospective randomized study in a rat model, J. Urol. 171, 1720–1725 (2004)CrossRef
52.74.
P.S. Jensen, K.W. Grace, R. Attariwala, J.E. Colgate, M.R. Glucksberg: Toward robot assisted vascular microsurgery in the retina, Graefes Arch. Clin. Exp. Ophthalmol. 235, 696–701 (1997)CrossRef
52.75.
H. Das, H. Zak, J. Johnson, J. Crouch, D. Frambaugh: Evaluation of a telerobotic system to assist surgeons in microsurgery, Comput. Aided Surg. 4, 15–25 (1999)CrossRef
52.76.
K. Hongo, S. Kobayashi, Y. Kakizawa, J.I. Koyama, T. Goto, H. Okudera, K. Kan, M.G. Fujie, H. Iseki, K. Takakura: NeuRobot: telecontrolled micromanipulator system for minimally invasive microneurosurgery-preliminary results, Neurosurgery 51, 985–988 (2002)CrossRef
52.77.
A. Kapoor, R. Kumar, R. Taylor: Simple biomanipulation tasks with a steady hand cooperative manipulator, Sixth Int. Conf. Med. Image Comput. Computer Assisted Intervention – MICCAI 2003 (Montreal 2003) pp. 141–148
52.78.
C. Riviere, J. Gangloff, M. de Mathelin: Robotic compensation of biological motion to enhance surgical accuracy, Proc IEEE 94(9), 1705–1716 (2006)CrossRef
52.79.
W. Armstrong, A. Karamzadeh, R. Crumley, T. Kelley, R. Jackson, B. Wong: A novel laryngoscope instrument stabilizer for operative microlaryngoscopy, Otolaryngol. Head Neck Surg. 132, 471–477 (2004)CrossRef
52.80.
L. Ascari, C. Stefanini, A. Menciassi, S. Sahoo, P. Rabischong, P. Dario: A new active microendoscope for exploring the sub-arachnoid space in the spinal cord, IEEE Conf. Robot. Autom. (2003) pp. 2657–2662
52.81.
U. Bertocchi, L. Ascari, C. Stefanini, C. Laschi, P. Dario: Human-robot shared control for robot-assisted endoscopy of the spinal cord, IEEE/RAS-EMBS Int. Conf. Biomed. Robot. Biomechatron. (2006) pp. 543–548
52.82.
A. Cuschieri, G. Buess, J. Perissat: Operative Manual of Endoscopic Surgery (Springer, Heidleberg 1992)
52.83.
K.J. Rebello: Applications of MEMS in surgery, IE, Vol. 992 (2004) pp. 43–55
52.84.
I. Kassim, W.S. Ng, G. Feng, S.J. Phee: Review of locomotion techniques for robotic colonoscopy, Int. Conf. Robot. Autom. (Taipei 2003) pp. 1086–1091
52.85.
C. Stefanini, A. Menciassi, P. Dario: Modeling and experiments on a legged microrobot locomoting in a tubular, compliant and slippery environment, Int. J. Robot. Res. 25, 551–560 (2006)CrossRef
52.86.
Y. Kusuda: A further step beyond wireless capsule endoscopy, Sensor Rev. 25, 259–260 (2005)CrossRef
52.87.
R.C. Ritter, M.S. Grady, M.A. Howard, G.T. Gilles: Magnetic stereotaxis: computer assisted, image guided remote movement of implants in the brain. In: Computer Integrated Surgery, ed. by R.H. Taylor, S. Lavallee, G.C. Burdea, R. Mosges (MIT Press, Cambridge 1995) pp. 363–369
52.88.
C.R. Wagner, N. Stylopoulos, P.G. Jackson, R.D. Howe: The benefit of force feedback in surgery: examination of blunt dissection, Presence: Teleoperators Virtual Environments (2007)
52.89.
A.M. Okamura: Methods for haptic feedback in teleoperated robot-assisted surgery, Ind. Robot 31, 499–508 (2004)CrossRef
52.90.
M.J. Massimino: Improved force perception through sensory substitution, Contr. Eng. Practice 3, 215–222 (1995)CrossRef
52.91.
P. Gupta, P. Jensen, E. de Juan: Quantification of tactile sensation during retinal microsurgery, MICCAI99: Second Int. Conf. Med. Image Comput. Computer-Assisted Intervention (Cambridge 1999)
52.92.
P.K. Poulose, M.F. Kutka, M. Mendoza-Sagaon, A.C. Barnes, C. Yang, R.H. Taylor, M.A. Talamini: Human versus robotic organ retraction during laparoscopic nissen fundoplication, Surg. Endosc. 13, 461–465 (1999)CrossRef
52.93.
J. Rosen, B. Hannaford, M. MacFarlane, M. Sinanan: Force controlled and teleoperated endoscopic grasper for minimally invasive surgery – experimental performance evaluation, IEEE Trans. Biomed. Eng. 46, 1212–1221 (1999)CrossRef
52.94.
A. Menciassi, A. Eisinberg, M.C. Carrozza, P. Dario: Force sensing microinstrument for measuring tissue properties and pulse in microsurgery, IEEE/ASME Trans. Mechatron. 8, 10–17 (2003)CrossRef
52.95.
R.D. Howe, W.J. Peine, D.A. Kontarinis, J.S. Son: Remote palpation technology, IEEE Eng. Med. Biol. 14(3), 318–323 (1995)CrossRef
52.96.
G. Fischer, T. Akinbiyi, S. Saha, J. Zand, M. Talamini, M. Marohn, R. Taylor: Ischemia and force sensing surgical instruments for augmenting available surgeon information, IEEE Int. Conf. Biomed. Robot. Biomechatron. – BioRob 2006 (Pisa 2006)
52.97.
F.J. Carter, M.P. Schijven, R. Aggarwal, T. Grantcharov, N.K. Francis, G.B. Hanna, J.J. Jakimowicz: Consensus guidelines for validation of virtual reality surgical simulators, Surg. Endo. 19, 1523–1532 (2005)CrossRef
52.98.
F.H. Halvorsen, O.J. Elle, E. Fosse: Simulators in surgery, Minimally Invasive Ther. 14, 214–223 (2005)CrossRef
52.99.
K. Moorthy, Y. Munz, S.K. Sarker, A. Darzi: Objective assessment of technical skills in surgery, Br. Med. J. 327, 1032–1037 (2003)CrossRef
52.100.
C. Basdogan, S. De, J. Kim, M. Muniyandi, H. Kim, M.A. Srinivasan: Haptics in Minimally Invasive Surgical Simulation and Training, IEEE Comput. Graphics Appl. 24(2), 56–64 (2004)CrossRef
52.101.
52.102.
52.103.
52.104.
52.105.
52.106.
52.107.
52.108.
52.109.
52.110.
F. Cavallo, G. Megali, S. Sinigaglia, O. Tonet, P. Dario: A biomechanical analysis of surgeonʼs gesture in a laparoscopic virtual scenario, Studies Health Techn. Informatics 119, 79–84 (2006)
52.111.
K.T. Kavanagh: Applications of image-directed robotics in otolaryngologic surgery, Laryngoscope 194, 283–293 (1994)
52.112.
J. Wurm, H. Steinhart, K. Bumm, M. Vogele, C. Nimsky, H. Iro: A novel robot system for fully automated paranasal sinus surgery, CARS 2003. Comput. Assisted Radiol. Surg. (2003) pp. 633–638
52.113.
M. Li, M. Ishii, R.H. Taylor: Spatial motion constraints in medical robot using virtual fixtures generated by anatomy, IEEE Trans. Robot. 2, 1270–1275 (2006)
52.114.
G. Strauss, K. Koulechov, R. Richter, A. Dietz, C. Trantakis, T. Lueth: Navigated control in functional endoscopic sinus surgery, Int. J. Med. Robot. Comput. Assisted Surg. 1, 31–41 (2005)CrossRef
Metadaten
Titel
Medical Robotics and Computer-Integrated Surgery
verfasst von
Russell H. Taylor, Prof
Arianna Menciassi, Prof
Gabor Fichtinger, Dr.
Paolo Dario, Prof
Copyright-Jahr
2008
Buch
Springer Handbook of Robotics

Print ISBN: 978-3-540-23957-4

Electronic ISBN: 978-3-540-30301-5

Copyright-Jahr: 2008

DOI
https://doi.org/10.1007/978-3-540-30301-5_53

Neuer Inhalt

    Bildnachweise