Review of surgical robotics user interface: what is the best way to control robotic surgery?
ABSTRACT As surgical robots begin to occupy a larger place in operating rooms around the world, continued innovation is necessary to improve our outcomes.
A comprehensive review of current surgical robotic user interfaces was performed to describe the modern surgical platforms, identify the benefits, and address the issues of feedback and limitations of visualization.
Most robots currently used in surgery employ a master/slave relationship, with the surgeon seated at a work-console, manipulating the master system and visualizing the operation on a video screen. Although enormous strides have been made to advance current technology to the point of clinical use, limitations still exist. A lack of haptic feedback to the surgeon and the inability of the surgeon to be stationed at the operating table are the most notable examples. The future of robotic surgery sees a marked increase in the visualization technologies used in the operating room, as well as in the robots' abilities to convey haptic feedback to the surgeon. This will allow unparalleled sensation for the surgeon and almost eliminate inadvertent tissue contact and injury.
A novel design for a user interface will allow the surgeon to have access to the patient bedside, remaining sterile throughout the procedure, employ a head-mounted three-dimensional visualization system, and allow the most intuitive master manipulation of the slave robot to date.
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ABSTRACT: Although a great deal of experimental attention has been directed at understanding Fitts' law, only a limited number of experiments have attempted to determine if performance differs across effectors for a given movement difficulty. In three experiments reciprocal wrist and arm movements were compared at IDs of 1.5, 3, 4.5 and 6. When absolute movement requirements and visual display were constant, participants' movement times and response characteristics for the arm and wrist were remarkably similar (Experiment 1). However, when amplitude for wrist movements was reduced to 8° and the gain (4×) for the visual display increased participants' movement time, defined on the basis of kinematic markers (movement onset-movement termination), was increasingly shorter relative to arm movements as movement difficulty was increased (Experiment 2). Experiment 3 where the arm was tested at 32° and 8° with the 8° movements provided the same gain (4×) that was used for the 8° wrist movements in Experiment 2, no advantage was observed for the arm at the shorter amplitude. The results are interpreted in terms of the advantages afforded by the increased gain of the visual display, which permitted the wrist, but not the arm, to more effectively preplan and/or correct ongoing movements to achieve the required accuracy demands. It was also noted that while the wrist was more effective during the actual movement production this was accompanied by an offsetting increase in dwell time which presumably is utilized to dissipate the forces accrued during movement production and plan the subsequent movement segment.Acta psychologica 07/2011; 137(3):382-96. DOI:10.1016/j.actpsy.2011.04.008 · 2.19 Impact Factor
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ABSTRACT: First used medically in 1985, robots now make an impact in laparoscopy, neurosurgery, orthopedic surgery, emergency response, and various other medical disciplines. This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent research projects. By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.Journal of Robotics 01/2012; 2012(1687-9600). DOI:10.1155/2012/401613
Article: Biomanufacturing[Show abstract] [Hide abstract]
ABSTRACT: Biomedical markets are large and rapidly growing owing to increasing demand for better healthcare services. The development of innovative biomedical systems can produce major breakthroughs in the healthcare industry, and advanced manufacturing technologies can propel such innovations. This paper summarises the field of biomanufacturing: namely, biospecific design constraints, biomechatronics, biofabrication, biodesign, and assembly. This paper presents state-of-the-art research, current problems, and future goals while providing fundamental knowledge required for entry into the biomedical industry. Biomanufacturing provides excellent opportunities for multi-disciplinary collaborations, both in academia and industry, and can lead to further advances in many engineering fields.CIRP Annals - Manufacturing Technology 01/2013; 62(2):585–606. DOI:10.1016/j.cirp.2013.05.001 · 2.54 Impact Factor