Applications of micromechatronics in minimally invasive surgery

Many surgical procedures are now performed using the techniques of minimally invasive surgery (MIS), in which unnecessary trauma is limited by reducing the size of incisions to less than about 1 cm or by using catheters or endoscopes threaded through vessels, the gastrointestinal tract, or other tubular structures. Micromechatronic technologies have great potential to allow access to regions now inaccessible, or to enhance the surgeon's abilities in applications where current minimally invasive techniques do not permit the full range of human dexterity and perception. Key needs and applications in MIS are identified, and relevant technologies, methods, and systems issues in mechatronics are discussed. The authors' millirobotic system for MIS of the abdomen is used as an example.

[1]  Koji Ikuta,et al.  Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[2]  R. S. Fearing,et al.  Tactile Sensing Mechanisms , 1990, Int. J. Robotics Res..

[3]  Paolo Dario,et al.  Microactuators for microrobots: a critical survey , 1992 .

[4]  I. Hunter,et al.  A comparison of muscle with artificial actuators , 1992, Technical Digest IEEE Solid-State Sensor and Actuator Workshop.

[5]  Ian W. Hunter,et al.  A comparative analysis of actuator technologies for robotics , 1992 .

[6]  R. Satava.  Nintendo surgery. , 1992, JAMA.

[7]  Lynette A. Jones,et al.  A Teleoperated Microsurgical Robot and Associated Virtual Environment for Eye Surgery , 1993, Presence: Teleoperators & Virtual Environments.

[8]  Lawrence W. Stark,et al.  Sensing and Manipulation Problems in Endoscopic Surgery: Experiment, Analysis, and Observation , 1993, Presence: Teleoperators & Virtual Environments.

[9]  J U Meyer,et al.  Intelligent surgical instrument system ISIS. Concept and preliminary experimental application of components and prototypes. , 1993, Endoscopic surgery and allied technologies.

[10]  Robert H. Sturges,et al.  A Flexible, Tendon-Controlled Device for Endoscopy , 1993, Int. J. Robotics Res..

[11]  Ronald S. Fearing,et al.  Tactile feedback for teleoperation , 1993, Other Conferences.

[12]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[13]  M. Negoro,et al.  Current situation of intravascular neurosurgery and its future , 1994, 1994 5th International Symposium on Micro Machine and Human Science Proceedings.

[14]  Makoto Nokata,et al.  Biomedical micro robots driven by miniature cybernetic actuator , 1994, Proceedings IEEE Micro Electro Mechanical Systems An Investigation of Micro Structures, Sensors, Actuators, Machines and Robotic Systems.

[15]  S. Shankar Sastry,et al.  Design and control of a simplified Stewart platform for endoscopy , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[16]  Pradeep K. Khosla,et al.  Touch and force reflection for telepresence surgery , 1994, Proceedings of 16th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[17]  John W. Hill,et al.  Telepresence surgery demonstration system , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[18]  Kazuhiro Kosuge,et al.  Micro active catheter system with multi degrees of freedom , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[19]  Yoshihiko Nakamura,et al.  Shape-memory-alloy active forceps for laparoscopic surgery , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[20]  Joel W. Burdick,et al.  The development of a robotic endoscope , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[21]  Eden Tan.  Estimating Human Tactile Resolution Limits for Stimulator Design , 1995 .

[22]  A. Cuschieri,et al.  Comparison of direct vision and electronic two‐ and three‐dimensional display systems on surgical task efficiency in endoscopic surgery , 1995, The British journal of surgery.

[23]  Robert D. Howe,et al.  A tactile shape sensing and display system for teleoperated manipulation , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[24]  Ronald S. Fearing,et al.  The reliability of curvature estimates from linear elastic tactile sensors , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[25]  Russell H. Taylor,et al.  Computer-Integrated Surgery: Technology and Clinical Applications , 1995 .

[26]  P. N. Brett,et al.  Automatic surgical tools for penetrating flexible tissues , 1995 .

[27]  M. Uchiyama,et al.  Active catheter with multi-link structure based on silicon micromachining , 1995, Proceedings IEEE Micro Electro Mechanical Systems. 1995.

[28]  Paul S. Schenker,et al.  A New Robot for High Dexterity Microsurgery , 1995, CVRMed.

[29]  Richard M. Satava,et al.  Interactive Technology and the New Paradigm for Healthcare , 1995 .

[30]  Shuxiang Guo,et al.  Micro active guide wire catheter system-Characteristic evaluation, electrical model and operability evaluation of micro active catheter , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[31]  Antal K. Bejczy,et al.  A New Telerobotic Application: Remote Laparoscopic Surgery Using Satellites and Optical Fiber Networks for Data Exchange , 1996, Int. J. Robotics Res..

[32]  Fumihito Arai,et al.  Multimedia tele-surgery using high speed optical fiber network and its application to intravascular neurosurgery - system configuration and computer networked robotic implementation , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[33]  G. Honderd,et al.  A hydraulic forceps with force-feedback for use in minimally invasive surgery , 1996 .

[34]  Antonio Bicchi,et al.  A sensor-based minimally invasive surgery tool for detecting tissutal elastic properties(003) 5323219 , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[35]  M. A. Northrup,et al.  Thin Film Shape Memory Alloy Microactuators , 1996, Microelectromechanical Systems (MEMS).

[36]  Benedetto Allotta,et al.  Micromechatronics in medicine , 1996 .

[37]  Mary C. Whitton,et al.  Towards Performing Ultrasound-Guided Needle Biopsies from within a Head-Mounted Display , 1996, VBC.

[38]  Fumihito Arai,et al.  Micro mechatronics and micro actuators , 1996 .

[39]  M O Schurr,et al.  Experimental telemanipulation in endoscopic surgery. , 1996, Surgical laparoscopy & endoscopy.

[40]  D. De Rossi,et al.  Steerable Microcatheters Actuated by Embedded Conducting Polymer Structures , 1996 .

[41]  S. Ashley,et al.  Getting a microgrip in the operating room , 1996 .

[42]  Grigore C. Burdea,et al.  Force and Touch Feedback for Virtual Reality , 1996 .

[43]  Maria Chiara Carrozza,et al.  A microrobot for colonoscopy , 1996, MHS'96 Proceedings of the Seventh International Symposium on Micro Machine and Human Science.

[44]  Klaus Radermacher,et al.  Stereoscopic Visualization in Endoscopic Surgery: Problems, Benefits, and Potentials , 1997, Presence: Teleoperators & Virtual Environments.

[45]  A K Morimoto,et al.  Force sensor for laparoscopic Babcock. , 1997, Studies in health technology and informatics.

[46]  S. Shankar Sastry,et al.  Milli-robotics for remote, minimally invasive surgery , 1997, Robotics Auton. Syst..

[47]  Frank Tendick,et al.  Human-machine interfaces for minimally invasive surgery , 1997, Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. 'Magnificent Milestones and Emerging Opportunities in Medical Engineering' (Cat. No.97CH36136).

[48]  A K Morimoto,et al.  Micro-telerobotic surgical system for microsurgery. , 1997, Studies in health technology and informatics.

[49]  Kenneth W. Grace,et al.  Robotic micromanipulator for ophthalmic surgery , 1997 .

[50]  B L Davies,et al.  Locomotion and steering aspects in automation of colonoscopy. Part one.A literature review. , 1997, IEEE engineering in medicine and biology magazine : the quarterly magazine of the Engineering in Medicine & Biology Society.

[51]  F Tendick,et al.  Comparison of laparoscopic imaging systems and conditions using a knot-tying task. , 1997, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[52]  Ronald S. Fearing,et al.  Some basic issues in teletaction , 1997, Proceedings of International Conference on Robotics and Automation.

[53]  S. Shankar Sastry,et al.  A laparoscopic telesurgical workstation , 1999, IEEE Trans. Robotics Autom..

[54]  Ieee/asme Transactions on Mechatronics , .