ppt

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