slides (ppt 6 mb)
TRANSCRIPT
![Page 1: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/1.jpg)
Robotics in surgeryPatrick A Finlay PhD CEng
Director and Chief Technical Officer, Prosurgics Ltd
![Page 2: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/2.jpg)
History of Robotics800BC Homer describes walking tripods
1921 The term "robot" invented by Karel Capek
1938 Mechanical arm for spray-painting.
1942 Isaac Asimov: Three Laws of Robotics.
1961 First commercial robot
1965 CMU creates Robotics Institute
1973 Wabot built at Waseda University Tokyo
1982 Int’l Advanced Robotics Programme
1986 First surgical robot
![Page 3: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/3.jpg)
Surgical Robotics: current status
~ 1200 surgical robots in regular clinical use worldwide.
Surgical robotics globally worth ~ $2B
Annual growth ~ 50% per annum
Small number of specialist companies
R&D in progress at over 100 universities world wide,
![Page 4: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/4.jpg)
Commercial surgical robotics
Telemanipulators Image guided surgery
Surgical Robotics
MEDICAL ROBOTICS
Non surgical
![Page 5: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/5.jpg)
The two branches of robotic surgery
Telemanipulator
(master-slave)Image guided
(true robot)
![Page 6: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/6.jpg)
TelemanipulatorsMaster Slave systems
![Page 7: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/7.jpg)
Single arm telemanipulators
endoscopic camera control
![Page 8: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/8.jpg)
Single arm camera holder
EndoAssist, Prosurgics Ltd
![Page 9: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/9.jpg)
Position anywhere around the table
Does not obstruct operation
Entry port can be in any position
Clinical benefits
Single arm camera holder
EndoAssist, Prosurgics Ltd
![Page 10: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/10.jpg)
Head movement control
Pan,zoom or tilt the camera with a head gesture
![Page 11: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/11.jpg)
Miniaturised camera holder
FreeHand, Prosurgics Ltd
![Page 12: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/12.jpg)
Miniaturised camera holder in use
No obstruction of surgical access or screen sightline
![Page 13: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/13.jpg)
Multi arm telemanipulator
Da Vinci
Intuitive Surgical Inc
![Page 14: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/14.jpg)
Multi-arm telemanipulator
Da Vinci, Intuitive Surgical Inc
Motion scaling to micro-wrist
![Page 15: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/15.jpg)
Multi-arm telemanipulator
Surgeon operates robot from a remote console
![Page 16: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/16.jpg)
Telesurgery
Surgeon in New York Patient in Strasbourg
Pictures from Computer Motion Inc
![Page 17: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/17.jpg)
Telesurgery applications
![Page 18: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/18.jpg)
Image Guided RobotsExample: Neurosurgery
![Page 19: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/19.jpg)
Robotic neurosurgery
![Page 20: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/20.jpg)
1927 arteriography 2007 MR image
Image-guided surgery
![Page 21: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/21.jpg)
Fusion of image modalities
MRI AngiographyCT
![Page 22: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/22.jpg)
Fused images and Brain Atlas
![Page 23: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/23.jpg)
The neurosurgeon’s quest
how to reach the target I’ve pinpointed on the scan
with the same accuracy that I can see it . . .
. . . but with minimal collateral damage . . .
. . .and simply, with a short procedure time . . .
. . .and without costing a fortune
![Page 24: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/24.jpg)
Registration: key to accuracy
![Page 25: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/25.jpg)
Stereotactic frame
![Page 26: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/26.jpg)
Stereotactic frame targeting arc
![Page 27: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/27.jpg)
Fiducial markers
![Page 28: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/28.jpg)
Testing prior to surgery
Skin Markers used as artificial targets for confirming accuracy
![Page 29: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/29.jpg)
Neurosurgery robot registration
Camera and light ring
camera in the robot’s wrist scans the patient
computer matches camera and CT scans
![Page 30: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/30.jpg)
Sterile environment control
![Page 31: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/31.jpg)
Deep Brain stimulation
![Page 32: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/32.jpg)
Brain tumour biopsy
Robot guided biopsy needle insertion. Multiple biopsies are possible along a single trajectory
![Page 33: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/33.jpg)
Epilepsy
Robotic 3-D positioning of depth electrodes to determine focus of epileptic seizure
![Page 34: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/34.jpg)
Grid pattern tumour treatment
Magnetic nanoparticles
Modified virus
Stem cells
Interstitial radiotherapy
Convection enhanced delivery
New pharmaceuticals
![Page 35: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/35.jpg)
Image Guided SurgeryApplications outside Neurosurgery
![Page 36: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/36.jpg)
Early beginnings
RoboDoc Femoral reaming
ISS Inc
![Page 37: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/37.jpg)
IGS trajectory control
Orthrobot
Dynamic hip screw placementArmstrong Healthcare (now Prosurgics Ltd)
![Page 38: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/38.jpg)
IGS path control
Machining of femur and tibia for total knee replacement
CASPAR orthopaedic robot
URS GmbH
![Page 39: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/39.jpg)
robot allows the surgeon to operate freely in the safe zone, but prevents entry elsewhere
Picture from Imperial College London
Active-constraint IGS
Total knee replacement
![Page 40: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/40.jpg)
Photographs: Imperial College London
Active constraint IGS
Total knee replacement
![Page 41: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/41.jpg)
Surgical Robots:The next generation
![Page 42: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/42.jpg)
New generation surgical robotics
Telemanipulators Image guided surgery
Tactical Surgical Robotics
MEDICAL ROBOTICS
Strategic Surgical robots
(Dual guidance)
Micro mobile robots with autonomy
Non surgical
![Page 43: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/43.jpg)
Miniaturisation
Praxiteles
Praxim SA
SpineAssist
Mazor Surgical Technologies Ltd
powered and passive DoFs Pedicle screw guidance
Parallel structure
![Page 44: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/44.jpg)
Probe tip tracking
Ascension Technologies Inc
Electromagnetic tracking
![Page 45: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/45.jpg)
Motion compensation
Kinemedic
DLR
Low inertia, high payload, force control robot
![Page 46: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/46.jpg)
Real time imaging and modelling
University of Verona
![Page 47: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/47.jpg)
New types of surgery
“NOTES”:
Natural orifice transgastric endoscopic surgery
![Page 48: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/48.jpg)
New types of surgery
SCP NorwayVancouver Institute for Advanced Ceramics
CAD CAM dental implant
Custom hip implants
![Page 49: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/49.jpg)
Free-roaming camera (pre-robotic)
Given Imaging, Israel
swallowable camera 2 frames/s for 6 hours
![Page 50: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/50.jpg)
Crawling microrobots
swallowable camera with 6-legged propulsion
Roaming robot with camera and biopsy needle NOTES surgery of the abdomen
University of NebraskaCMU/ Korean Intelligent μsystems centre
![Page 51: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/51.jpg)
Swimming microrobots
Swimming robot
Eyeball cavity, CSF, urinary system
Autonomous Swimmer.
Subarachnoid space of spine.
Pushmepullyou swimmer
Technion UniversityCarnegie Mellon University
![Page 52: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/52.jpg)
Multi-segment snake arms
23 DoF holonomic snake arm
Nuclear maintenance
Tube crawling concertina snake
Disaster rescueExperimental flexible endoscopic manipulator
OC RoboticsLtd Johns Hopkins University Carnegie Mellon University
![Page 53: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/53.jpg)
Biomimetics
Biomimetic lobster
goal–achieving behaviour
Artificial muscle actuators
Wood wasp ovipositor
Robot carp:
serpentine motion
Northeastern University MA Essex University
![Page 54: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/54.jpg)
Intelligence
Evolutionary learning bipedal locomotion
I-SWARM
Co-operating robots
21 DoF fault tolerant snake arm for Space vehicles
Kahlsruhe University (leader) NASA JSC Chalmers University
![Page 55: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/55.jpg)
A new safety paradigm
New approach: “intrinsically safe design; control for performance”
Old approach:
“rigid design for accuracy; active control for safety”
LE3 robotDLR
![Page 56: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/56.jpg)
“Dependability”
Safety
reliability
maintainability
Availability
legibility – “the psychological ability of a user to understand what the robot is intending”
![Page 57: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/57.jpg)
Architecture
Classical: “sense > plan > act”
Deliberative (eg NASA): “reason > model > react”
Subsumption (Brooks): behaviour based
Hybrid: high level deliberator <> mediator <> low level reactive executive
![Page 58: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/58.jpg)
Intrinsically safe robot inertia
Stanford University
DM2 robot structureDuplicated actuators
![Page 59: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/59.jpg)
Future surgical robots: in summary
Miniature
Physiologically registered
Sensuate
Dependable
Autonomous
. . . and UbiquitousNASA NEEMO
![Page 60: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/60.jpg)
New surgical robots will be
SMALL, including intra-body.
Intelligent and sensuate
Semi- autonomous
Ubiquitous in surgical procedures
Today’s surgical robots are already
Clinically beneficial
Cost effective
Improving patient outcomes
Improving Safety
Lowering Costs
Enabling New procedures
![Page 61: Slides (PPT 6 MB)](https://reader033.vdocuments.net/reader033/viewer/2022051201/589ee7a81a28ab304a8c1268/html5/thumbnails/61.jpg)
Robotics in surgeryPatrick A Finlay PhD CEng
Director and Chief Technical Officer, Prosurgics Ltd