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Robotic Surgery and Surgical Simulation. Roger Smith, PhD [email protected] Approved for Public Release. Robotic Surgery.

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Robotic Surgery and Surgical Simulation

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Robotic surgery and surgical simulation l.jpg

Robotic Surgery and Surgical Simulation

Roger Smith, PhD

[email protected]

Approved for Public Release.


Robotic surgery l.jpg

Robotic Surgery

  • “Robot-assisted surgery was developed to overcome limitations of minimally invasive surgery, Instead of directly moving the instruments the surgeon uses a computer console to manipulate the instruments attached to multiple robot arms. The computer translates the surgeon’s movements, which are then carried out on the patient by the robot.”


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Early Robotic Surgical Systems

AESOP: Automated Endoscopic System for Optimal Positioning

ZEUS Telesurgery Robotic system

http://www.websurg.com/robotics/history.php


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da Vinci Surgical Robot

Intuitive Surgical Inc. http://www.intuitivesurgical.com/index.aspx


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Essential Robotic Components

Stereo Vision

Stereo Mag Endoscope

7-DOF Instrument

Ergonomic Station

Fine Control

Diverse, Small Instruments


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Intuitive Surgical’s da Vinci Robot


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World’s First Robotic Telesurgery

  • September 2001: Tele- chole (gall bladder removal)

  • Surgeon in New York, Patient in France

  • Round trip distance = 8,700 miles

  • Round trip data time = 200 ms

  • Collaborators: Prof Jacques Marescaux, New York & European Institute of Telesurgery, Strasbourg

  • http://news.bbc.co.uk/2/hi/science/nature/1552211.stm


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Modeling the World

Fluid Dynamics

water, air flow

Hard Objects

tanks, helos, ships

Human Body

living

tissue


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Unique Surgical Simulation Challenges

  • Geometry

  • Complex

  • Non-linear

  • Non-uniform

  • Appearance

  • Layered

  • Translucent

  • Dense

  • Dynamics

  • Nerve movement

  • Blood flow

  • Elasticity

Center for Research in Education and Simulation Technologies, Rob Sweet, MD


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Robotic Surgical Simulator

  • Stand-alone surgical simulator

  • No consumables or disposables required

  • Allows performance analysis and measurement

  • User does not require monitoring

  • New surgical procedure modules can be added

  • Does not require an operating room environment and can be set up in a location most advantageous to access and training needs

  • Monitor allows a user or tutor to observe the procedure

  • Comprehensive curriculum to train for motor, and cognitive skills


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RoSS


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MIMIC dV-trainer


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MIMIC dV Trainer


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MIMIC Thread the Rings


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Components of a Surgical Simulator (Harders, 2008)

Model Generation

Clinical Expertise

Vascular Structures

Bleeding Simulation

Tissue Parameters

Tissue Cutting

Organ Texturing

Tissue Deformation

Haptic Interface

Collision Detection

Immersive OR

Fluid Simulation


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Come Use the da Vinci Robot

Intuitive Surgical and Florida Hospital

bave brought a da Vinci robot to the I/ITSEC show floor

Visit the

National Center for Simulation Booth #913


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Presentation Available

Slides at:

http://www.modelbenders.com/papers

Videos at:

Da Vinci Overview

http://www.youtube.com/watch?v=ozyv3x1ivts

Ross Simulator

http://www.youtube.com/watch?v=bICtjMCeXmQ

MIMIC Simulator

http://www.mimic.ws/resources


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