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robotic surgery and surgical simulation

Robotic Surgery and Surgical Simulation

Roger Smith, PhD

Approved for Public Release.

robotic surgery
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.”
early robotic surgical systems
Early Robotic Surgical Systems

AESOP: Automated Endoscopic System for Optimal Positioning

ZEUS Telesurgery Robotic system

da vinci surgical robot
da Vinci Surgical Robot

Intuitive Surgical Inc.

essential robotic components
Essential Robotic Components

Stereo Vision

Stereo Mag Endoscope

7-DOF Instrument

Ergonomic Station

Fine Control

Diverse, Small Instruments

world s first robotic telesurgery
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
modeling the world
Modeling the World

Fluid Dynamics

water, air flow

Hard Objects

tanks, helos, ships

Human Body



unique surgical simulation challenges
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

robotic surgical simulator
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
components of a surgical simulator harders 2008
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

come use the da vinci robot
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

presentation available
Presentation Available

Slides at:

Videos at:

Da Vinci Overview

Ross Simulator

MIMIC Simulator