Статті в журналах: "Autonomous robotic surgery"

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Abdelaal, Alaa Eldin, Jordan Liu, Nancy Hong, Gregory D. Hager, and Septimiu E. Salcudean. "Parallelism in Autonomous Robotic Surgery." IEEE Robotics and Automation Letters 6, no. 2 (April 2021): 1824–31. http://dx.doi.org/10.1109/lra.2021.3060402.

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Ray, Katrina. "Autonomous robotic laparoscopic gastrointestinal surgery." Nature Reviews Gastroenterology & Hepatology 19, no. 3 (February 1, 2022): 148. http://dx.doi.org/10.1038/s41575-022-00584-z.

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Yang, Shuo, Jiahao Chen, An Li, Ping Li, and Shulan Xu. "Autonomous Robotic Surgery for Immediately Loaded Implant-Supported Maxillary Full-Arch Prosthesis: A Case Report." Journal of Clinical Medicine 11, no. 21 (November 7, 2022): 6594. http://dx.doi.org/10.3390/jcm11216594.

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Robotic systems have emerged in dental implant surgery due to their accuracy. Autonomous robotic surgery may offer unprecedented advantages over conventional alternatives. This clinical protocol was used to show the feasibility of autonomous robotic surgery for immediately loaded implant-supported full-arch prostheses in the maxilla. This case report demonstrated the surgical protocol and outcomes in detail, highlighting the pros and cons of the autonomous robotic system. Within the limitations of this study, autonomous robotic surgery could be a feasible alternative to computer-assisted guided implant surgery.

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Rhatomy,MD, Sholahuddin, Krisna Yuarno Phatama, Asep Santoso, Kukuh Dwiputra Hernugrahanto, and Nicolaas Budhiparama. "Robot-Assisted in Hip and Knee Surgery: Are we ready?" Hip and Knee Journal 2, no. 2 (August 25, 2021): 54–56. http://dx.doi.org/10.46355/hipknee.v2i2.111.

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The word 'robot' is derived from the Polish word "robota," which means forced labor. It describes a machine that carries out various tasks either automatically or with minimal external input, especially one that is programmable. There are two main types of robotic surgery systems: haptic and autonomous. Haptic or tactile systems allow the surgeon to use or drive the robot to perform a surgical procedure. This technology requires constant input by the surgeon for the procedure to proceed. In contrast, autonomous robotic systems require the surgeon to perform the approach and set up the machine, but once engaged, the robot completes the surgery without the surgeon's help. The use of robotic technology has, in some cases, facilitated minimally invasive surgery, which has gained popularity with some patients. In spinal surgery, robotic technology has been successfully used to increase the accuracy of implant placement. Furthermore, robotic technology can improve the radiological alignment of implants following the pre-operative plan.1,2

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Shademan, Azad, Ryan S. Decker, Justin D. Opfermann, Simon Leonard, Axel Krieger, and Peter C. W. Kim. "Supervised autonomous robotic soft tissue surgery." Science Translational Medicine 8, no. 337 (May 4, 2016): 337ra64. http://dx.doi.org/10.1126/scitranslmed.aad9398.

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Rivas-Blanco, Irene, Carlos Perez-del-Pulgar, Carmen López-Casado, Enrique Bauzano, and Víctor Muñoz. "Transferring Know-How for an Autonomous Camera Robotic Assistant." Electronics 8, no. 2 (February 18, 2019): 224. http://dx.doi.org/10.3390/electronics8020224.

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Robotic platforms are taking their place in the operating room because they provide more stability and accuracy during surgery. Although most of these platforms are teleoperated, a lot of research is currently being carried out to design collaborative platforms. The objective is to reduce the surgeon workload through the automation of secondary or auxiliary tasks, which would benefit both surgeons and patients by facilitating the surgery and reducing the operation time. One of the most important secondary tasks is the endoscopic camera guidance, whose automation would allow the surgeon to be concentrated on handling the surgical instruments. This paper proposes a novel autonomous camera guidance approach for laparoscopic surgery. It is based on learning from demonstration (LfD), which has demonstrated its feasibility to transfer knowledge from humans to robots by means of multiple expert showings. The proposed approach has been validated using an experimental surgical robotic platform to perform peg transferring, a typical task that is used to train human skills in laparoscopic surgery. The results show that camera guidance can be easily trained by a surgeon for a particular task. Later, it can be autonomously reproduced in a similar way to one carried out by a human. Therefore, the results demonstrate that the use of learning from demonstration is a suitable method to perform autonomous camera guidance in collaborative surgical robotic platforms.

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Rodriguez y Baena, Ferdinando, and Brian Davies. "Robotic surgery: from autonomous systems to intelligent tools." Robotica 28, no. 2 (August 27, 2009): 163–70. http://dx.doi.org/10.1017/s0263574709990427.

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SUMMARYA brief history of robotic surgery is provided, which describes the transition from autonomous robots to hands-on systems that are under the direct control of the surgeon. An example of the latter is the Acrobot (for active-constraint robot) system used in orthopaedics, whilst soft-tissue surgery is illustrated by the daVinci telemanipulator system. Non-technological aspects of robotic surgery have often been a major impediment to their widespread clinical use. These are discussed in detail, together with the role of navigation systems, which are considered a major competitor to surgical robots. A detailed description is then given of a registration method for robots to achieve improved accuracy. Registration is a major source of error in robotic surgery, particularly in orthopaedics. The paper describes the design and clinical implementation of a novel method, coined the bounded registration method, applied to minimally invasive registration of the femur. Results of simulations which compare the performance of bounded registration with a standard implementation of the iterative closest point algorithm are also presented, alongside a description of their application in the Acrobot hands-on robot, used clinically for uni-condylar knee arthroplasty.

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Rosen, Jacob, and Ji Ma. "Autonomous Operation in Surgical Robotics." Mechanical Engineering 137, no. 09 (September 1, 2015): S15—S18. http://dx.doi.org/10.1115/1.2015-sep-9.

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The article focuses on developing an algorithm for automation based on stereo computer vision and dynamic registration in a surgical robotic context. The performance of the algorithm was further tested experimentally utilizing the block transfer task which corresponds to tissue manipulation as designed by Fundamentals of Laparoscopic Surgery (FLS). The surgical robotics field as a whole progresses towards the reduction of invasiveness limiting the trauma at the periphery of the surgical site and increase of semi-autonomous operation while positioning the surgeon as a decision maker rather than as an operator. The autonomous FLS task is implemented successfully and tested experimentally with the Raven II surgical robot system. The data indicate that the autonomous operational mode has better overall performance and limited tool-environment interaction compared with the human teleoperation mode. Surgeon’s intention may also be extracted from a database that may lead to seamless switching between the human operator and the autonomous system and in that sense, it may allow the autonomous algorithm to cope with more complex surgical environments.

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Bani, Mehrdad J. "Autonomous Camera Movement for Robotic-Assisted Surgery: A Survey." International Journal of Advanced Engineering, Management and Science 3, no. 8 (2017): 829–36. http://dx.doi.org/10.24001/ijaems.3.8.2.

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Prendergast, J. Micah, and Mark E. Rentschler. "Towards autonomous motion control in minimally invasive robotic surgery." Expert Review of Medical Devices 13, no. 8 (July 11, 2016): 741–48. http://dx.doi.org/10.1080/17434440.2016.1205482.

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11

Weng, Yueh-Hsuan, and Yasuhisa Hirata. "Design-Centered HRI Governance for Healthcare Robots." Journal of Healthcare Engineering 2022 (January 7, 2022): 1–8. http://dx.doi.org/10.1155/2022/3935316.

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Recent developments have shown that not only are AI and robotics growing more sophisticated, but also these fields are evolving together. The applications that emerge from this trend will break current limitations and ensure that robotic decision making and functionality are more autonomous, connected, and interactive in a way which will support people in their daily lives. However, in areas such as healthcare robotics, legal and ethical concerns will arise as increasingly advanced intelligence functions are incorporated into robotic systems. Using a case study, this paper proposes a unique design-centered approach which tackles the issue of data protection and privacy risk in human-robot interaction.

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12

OSA, Takayuki, Takuto HANIU, Kanako HARADA, Naohiko SUGITA, and Mamoru MITSUISHI. "1A2-B12 Autonomous risk detection system for robotic surgery(Medical Robotics and Mechatronics (2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _1A2—B12_1—_1A2—B12_4. http://dx.doi.org/10.1299/jsmermd.2013._1a2-b12_1.

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13

Kim, Sang-Hyun, Hyuk-Soon Choi, Bora Keum, and Hoon-Jai Chun. "Robotics in Gastrointestinal Endoscopy." Applied Sciences 11, no. 23 (November 30, 2021): 11351. http://dx.doi.org/10.3390/app112311351.

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Recent advances in endoscopic technology allow clinicians to not only detect digestive diseases early, but also provide appropriate treatment. The development of various therapeutic endoscopic technologies has changed the paradigm in the treatment of gastrointestinal diseases, contributing greatly to improving the quality of life of patients. The application of robotics for gastrointestinal endoscopy improves the maneuverability and therapeutic ability of gastrointestinal endoscopists, but there are still technical limitations. With the development of minimally invasive endoscopic treatment, clinicians need more sophisticated and precise endoscopic instruments. Novel robotic systems are being developed for application in various clinical fields, to ultimately develop into minimally invasive robotic surgery to lower the risk to patients. Robots for endoscopic submucosal dissection, autonomous locomotive robotic colonoscopes, and robotic capsule endoscopes are currently being developed. In this review, the most recently developed innovative endoscopic robots were evaluated according to their operating mechanisms and purpose of use. Robotic endoscopy is an innovative treatment platform for future digestive endoscopy.

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Scaglioni, B., A. Attanasio, M. Leonetti, A. F. Frangi, W. Cross, C. S. Byiani, and P. Valdastri. "Toward autonomous tissue retraction in robotic assisted minimally invasive surgery." European Urology Open Science 19 (July 2020): e2018-e2019. http://dx.doi.org/10.1016/s2666-1683(20)33958-6.

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Oña, E. D., R. Cano-de la Cuerda, P. Sánchez-Herrera, C. Balaguer, and A. Jardón. "A Review of Robotics in Neurorehabilitation: Towards an Automated Process for Upper Limb." Journal of Healthcare Engineering 2018 (2018): 1–19. http://dx.doi.org/10.1155/2018/9758939.

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Robot-mediated neurorehabilitation is a growing field that seeks to incorporate advances in robotics combined with neuroscience and rehabilitation to define new methods for treating problems related with neurological diseases. In this paper, a systematic literature review is conducted to identify the contribution of robotics for upper limb neurorehabilitation, highlighting its relation with the rehabilitation cycle, and to clarify the prospective research directions in the development of more autonomous rehabilitation processes. With this aim, first, a study and definition of a general rehabilitation process are made, and then, it is particularized for the case of neurorehabilitation, identifying the components involved in the cycle and their degree of interaction between them. Next, this generic process is compared with the current literature in robotics focused on upper limb treatment, analyzing which components of this rehabilitation cycle are being investigated. Finally, the challenges and opportunities to obtain more autonomous rehabilitation processes are discussed. In addition, based on this study, a series of technical requirements that should be taken into account when designing and implementing autonomous robotic systems for rehabilitation is presented and discussed.

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Ahmad, Paras, Mohammad Khursheed Alam, Ali Aldajani, Abdulmajeed Alahmari, Amal Alanazi, Martin Stoddart, and Mohammed G. Sghaireen. "Dental Robotics: A Disruptive Technology." Sensors 21, no. 10 (May 11, 2021): 3308. http://dx.doi.org/10.3390/s21103308.

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Robotics is a disruptive technology that will change diagnostics and treatment protocols in dental medicine. Robots can perform repeated workflows for an indefinite length of time while enhancing the overall quality and quantity of patient care. Early robots required a human operator, but robotic systems have advanced significantly over the past decade, and the latest medical robots can perform patient intervention or remote monitoring autonomously. However, little research data on the therapeutic reliability and precision of autonomous robots are available. The present paper reviews the promise and practice of robots in dentistry by evaluating published work on commercial robot systems in dental implantology, oral and maxillofacial surgery, prosthetic and restorative dentistry, endodontics, orthodontics, oral radiology as well as dental education. In conclusion, this review critically addresses the current limitations of dental robotics and anticipates the potential future impact on oral healthcare and the dental profession.

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Gumbs, Andrew A., Frank Alexander, Konrad Karcz, Elie Chouillard, Roland Croner, Jasamine Coles-Black, Belinda de Simone, et al. "White paper: definitions of artificial intelligence and autonomous actions in clinical surgery." Artificial Intelligence Surgery 2, no. 2 (2022): 93–100. http://dx.doi.org/10.20517/ais.2022.10.

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This white paper documents the consensus opinion of the expert members of the Editorial Board of Artificial Intelligence Surgery regarding the definitions of artificial intelligence and autonomy in regards to surgery and how the digital evolution of surgery is interrelated with the various forms of robotic-assisted surgery. It was derived from a series of video conference discussions, and the survey and results were subsequently revised and approved by all authors.

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Zhang, Lin, Menglong Ye, Petros Giataganas, Michael Hughes, Adrian Bradu, Adrian Podoleanu, and Guang-Zhong Yang. "From Macro to Micro: Autonomous Multiscale Image Fusion for Robotic Surgery." IEEE Robotics & Automation Magazine 24, no. 2 (June 2017): 63–72. http://dx.doi.org/10.1109/mra.2017.2680543.

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Kuckelman, John, and M. Blair Marshall. "How I Teach It: Robotic Assisted Minimally Invasive Esophagectomy (RAMIE)." Foregut: The Journal of the American Foregut Society 2, no. 2 (June 2022): 205–7. http://dx.doi.org/10.1177/26345161221116046.

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Robotic surgery has provided an attractive minimally invasive option for esophagectomy. Benefits include magnified 3D visualization, a variety of instruments with 7 degrees of motion that simplify sewing and fine dissection, as well as autonomous control of the operation with the use of 3 robotic arms. We provide a detailed review of how we perform robotic esophagectomies that conclude in the chest. A video demonstrating the crucial steps is provided. Although 3-field robotic assisted minimally invasive esophagectomy (RAMIE) is possible when needed, we will focus here on approaches with anastomosis in the chest.

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Kwon, Ik Jae, Soung Min Kim, and Soon Jung Hwang. "Development of Autonomous Robot Osteotomy for Mandibular Ramal Bone Harvest and Evaluation of Its Accuracy: A Phantom Mandible-Based Trial." Applied Sciences 11, no. 6 (March 23, 2021): 2885. http://dx.doi.org/10.3390/app11062885.

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An autonomous robot osteotomy using direct coordinate determination for registering was developed, and the accuracy of the designed osteotomy along the preprogrammed plan was evaluated. Furthermore, the accuracy of the robotic and manual osteotomy was compared in regard to cut position, length, angle and depth. A light-weight robot was used in this study, with an electric gripper. Twenty stone models were used to evaluate accuracy of osteotomy and sixteen mandible phantoms were used to simulate the ramal bone harvest osteotomy for comparison between robotic and manual surgery. In the stone model experiment, the absolute mean values for osteotomy errors for position, length, angle, and depth were 0.93 ± 0.45 mm, 0.81 ± 0.34 mm, 1.26 ± 1.35°, and 1.19 ± 0.73 mm, respectively. In the mandible phantom model experiment, the robotic surgery showed lower errors for position, length and angle (0.70 ± 0.34 mm, 0.35 ± 0.19 mm and 1.32 ± 0.96°) and somewhat higher errors for depth (0.59 ± 0.46 mm) than manual surgery (1.83 ± 0.65 mm, 0.62 ± 0.37 mm, 5.96 ± 3.47° and 0.40 ± 0.31 mm). This study may provide a basis for developing clinical application of an autonomous robot osteotomy.

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Moustris, G. P., S. C. Hiridis, K. M. Deliparaschos, and K. M. Konstantinidis. "Evolution of autonomous and semi-autonomous robotic surgical systems: a review of the literature." International Journal of Medical Robotics and Computer Assisted Surgery 7, no. 4 (August 3, 2011): 375–92. http://dx.doi.org/10.1002/rcs.408.

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Ciuti, Gastone, Karolina Skonieczna-Żydecka, Wojciech Marlicz, Veronica Iacovacci, Hongbin Liu, Danail Stoyanov, Alberto Arezzo, et al. "Frontiers of Robotic Colonoscopy: A Comprehensive Review of Robotic Colonoscopes and Technologies." Journal of Clinical Medicine 9, no. 6 (May 31, 2020): 1648. http://dx.doi.org/10.3390/jcm9061648.

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Flexible colonoscopy remains the prime mean of screening for colorectal cancer (CRC) and the gold standard of all population-based screening pathways around the world. Almost 60% of CRC deaths could be prevented with screening. However, colonoscopy attendance rates are affected by discomfort, fear of pain and embarrassment or loss of control during the procedure. Moreover, the emergence and global thread of new communicable diseases might seriously affect the functioning of contemporary centres performing gastrointestinal endoscopy. Innovative solutions are needed: artificial intelligence (AI) and physical robotics will drastically contribute for the future of the healthcare services. The translation of robotic technologies from traditional surgery to minimally invasive endoscopic interventions is an emerging field, mainly challenged by the tough requirements for miniaturization. Pioneering approaches for robotic colonoscopy have been reported in the nineties, with the appearance of inchworm-like devices. Since then, robotic colonoscopes with assistive functionalities have become commercially available. Research prototypes promise enhanced accessibility and flexibility for future therapeutic interventions, even via autonomous or robotic-assisted agents, such as robotic capsules. Furthermore, the pairing of such endoscopic systems with AI-enabled image analysis and recognition methods promises enhanced diagnostic yield. By assembling a multidisciplinary team of engineers and endoscopists, the paper aims to provide a contemporary and highly-pictorial critical review for robotic colonoscopes, hence providing clinicians and researchers with a glimpse of the major changes and challenges that lie ahead.

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Treat, M. R., S. E. Amory, P. E. Downey, and D. A. Taliaferro. "Initial clinical experience with a partly autonomous robotic surgical instrument server." Surgical Endoscopy 20, no. 8 (May 17, 2006): 1310–14. http://dx.doi.org/10.1007/s00464-005-0511-0.

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24

Attanasio, Aleks, Bruno Scaglioni, Matteo Leonetti, Alejandro F. Frangi, William Cross, Chandra Shekhar Biyani, and Pietro Valdastri. "Autonomous Tissue Retraction in Robotic Assisted Minimally Invasive Surgery – A Feasibility Study." IEEE Robotics and Automation Letters 5, no. 4 (October 2020): 6528–35. http://dx.doi.org/10.1109/lra.2020.3013914.

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Amirkhani, Golchehr, Farzam Farahmand, Seied Muhammad Yazdian, and Alireza Mirbagheri. "An extended algorithm for autonomous grasping of soft tissues during robotic surgery." International Journal of Medical Robotics and Computer Assisted Surgery 16, no. 5 (July 2, 2020): 1–15. http://dx.doi.org/10.1002/rcs.2122.

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Mayer, Hermann, Istvan Nagy, Alois Knoll, Eva U. Braun, Robert Bauernschmitt, and Rüdiger Lange. "Haptic Feedback in a Telepresence System for Endoscopic Heart Surgery." Presence: Teleoperators and Virtual Environments 16, no. 5 (October 1, 2007): 459–70. http://dx.doi.org/10.1162/pres.16.5.459.

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The implementation of telemanipulator systems for cardiac surgery enabled heart surgeons to perform delicate minimally invasive procedures with high precision under stereoscopic view. At present, commercially available systems do not provide force-feedback or Cartesian control for the operating surgeon. The lack of haptic feedback may cause damage to tissue and can cause breaks of suture material. In addition, minimally invasive procedures are very tiring for the surgeon due to the need for visual compensation for the missing force feedback. While a lack of Cartesian control of the end effectors is acceptable for surgeons (because every movement is visually supervised), it prevents research on partial automation. In order to improve this situation, we have built an experimental telemanipulator for endoscopic surgery that provides both force-feedback (in order to improve the feeling of immersion) and Cartesian control as a prerequisite for automation. In this article, we focus on the inclusion of force feedback and its evaluation. We completed our first bimanual system in early 2003 (EndoPAR Endoscopic Partial Autonomous Robot). Each robot arm consists of a standard robot and a surgical instrument, hence providing eight DOF that enable free manipulation via trocar kinematics. Based on the experience with this system, we introduced an improved version in early 2005. The new ARAMIS system (Autonomous Robot Assisted Minimally Invasive Surgery) has four multi-purpose robotic arms mounted on a gantry above the working space. Again, the arms are controlled by two force-feedback devices, and 3D vision is provided. In addition, all surgical instruments have been equipped with strain gauge force sensors that can measure forces along all translational directions of the instrument's shaft. Force-feedback of this system was evaluated in a scenario of robotic heart surgery, which offers an impression very similar to the standard, open procedures with high immersion. It enables the surgeon to palpate arteriosclerosis, to tie surgical knots with real suture material, and to feel the rupture of suture material. Therefore, the hypothesis that haptic feedback in the form of sensory substitution facilitates performance of surgical tasks was evaluated on the experimental platform described in the article (on the EndoPAR version). In addition, a further hypothesis was explored: The high fatigue of surgeons during and after robotic operations may be caused by visual compensation due to the lack of force-feedback (Thompson, J., Ottensmeier, M., & Sheridan, T. 1999. Human Factors in Telesurgery, Telmed Journal, 5 (2) 129–137.).

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Bauernschmitt, R., E. U. Schirmbeck, A. Knoll, H. Mayer, I. Nagy, N. Wessel, S. M. Wildhirt, and R. Lange. "Towards robotic heart surgery: Introduction of autonomous procedures into an experimental surgical telemanipulator." International Journal of Medical Robotics and Computer Assisted Surgery 01, no. 03 (2005): 74. http://dx.doi.org/10.1581/mrcas.2005.010304.

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Ferraguti, Federica, Nicola Preda, Auralius Manurung, Marcello Bonfe, Olivier Lambercy, Roger Gassert, Riccardo Muradore, Paolo Fiorini, and Cristian Secchi. "An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery." IEEE Transactions on Robotics 31, no. 5 (October 2015): 1073–88. http://dx.doi.org/10.1109/tro.2015.2455791.

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Colan, Jacinto, Jun Nakanishi, Tadayoshi Aoyama, and Yasuhisa Hasegawa. "Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery." Robotics 10, no. 1 (February 1, 2021): 27. http://dx.doi.org/10.3390/robotics10010027.

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The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity, robot-assisted suturing is still highly challenging. In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure safe surgical instrument motion. The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints. The constrained motion planner is designed to reduce surrounding damages to the nasal cavity by setting a remote center of motion over the nostril. A dual concurrent inverse kinematics (IK) solver is proposed to achieve convergence of the solution and optimal time execution, in which two constrained IK methods are performed simultaneously; a task-priority based IK and a nonlinear optimization-based IK. We evaluate the performance of the proposed method in a stitching experiment with our surgical robotic system in a robot-assisted mode and an autonomous mode in comparison to the use of a conventional surgical tool. Our results demonstrate a noticeable improvement in the stitching success ratio in the robot-assisted mode and the shortest completion time for the autonomous mode. In addition, the force interaction with the tissue was highly reduced when using the robotic system.

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Muñoz, Victor F., Isabel Garcia-Morales, Juan Carlos Fraile-Marinero, Javier Perez-Turiel, Alvaro Muñoz-Garcia, Enrique Bauzano, Irene Rivas-Blanco, Jose María Sabater-Navarro, and Eusebio de la Fuente. "Collaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trials." Sensors 21, no. 7 (March 26, 2021): 2320. http://dx.doi.org/10.3390/s21072320.

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Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas). In this type of procedure, the surgeon has to complete the surgical maneuvers for sarcoma resection with extreme precision, as there are many vital structures in this area. Therefore, the use of robots for this type of intervention could increase the success of the intervention by providing accurate movements. Research has focused on the development of teleoperated robots to handle a surgical instrument, including the use of virtual fixtures to delimit the working area. This paper aims to go a step further with a platform that includes a teleoperated robot and an autonomous robot dedicated to secondary tasks. In this way, the aim is to reduce the surgeon’s workload so that he can concentrate on his main task. Thus, the article focuses on the description and implementation of a navigator that coordinates both robots via a force/position control. Finally, both the navigation and control scheme were validated by in-vitro tests.

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Maris, Bogdan, Chiara Tenga, Rudy Vicario, Luigi Palladino, Noe Murr, Michela De Piccoli, Andrea Calanca, et al. "Toward autonomous robotic prostate biopsy: a pilot study." International Journal of Computer Assisted Radiology and Surgery 16, no. 8 (July 5, 2021): 1393–401. http://dx.doi.org/10.1007/s11548-021-02437-7.

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32

Pangal, Dhiraj J., David J. Cote, Jacob Ruzevick, Benjamin Yarovinsky, Guillaume Kugener, Bozena Wrobel, Elisabeth H. Ference, et al. "Robotic and robot-assisted skull base neurosurgery: systematic review of current applications and future directions." Neurosurgical Focus 52, no. 1 (January 2022): E15. http://dx.doi.org/10.3171/2021.10.focus21505.

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OBJECTIVE The utility of robotic instrumentation is expanding in neurosurgery. Despite this, successful examples of robotic implementation for endoscopic endonasal or skull base neurosurgery remain limited. Therefore, the authors performed a systematic review of the literature to identify all articles that used robotic systems to access the sella or anterior, middle, or posterior cranial fossae. METHODS A systematic review of MEDLINE and PubMed in accordance with PRISMA guidelines performed for articles published between January 1, 1990, and August 1, 2021, was conducted to identify all robotic systems (autonomous, semiautonomous, or surgeon-controlled) used for skull base neurosurgical procedures. Cadaveric and human clinical studies were included. Studies with exclusively otorhinolaryngological applications or using robotic microscopes were excluded. RESULTS A total of 561 studies were identified from the initial search, of which 22 were included following full-text review. Transoral robotic surgery (TORS) using the da Vinci Surgical System was the most widely reported system (4 studies) utilized for skull base and pituitary fossa procedures; additionally, it has been reported for resection of sellar masses in 4 patients. Seven cadaveric studies used the da Vinci Surgical System to access the skull base using alternative, non–TORS approaches (e.g., transnasal, transmaxillary, and supraorbital). Five cadaveric studies investigated alternative systems to access the skull base. Six studies investigated the use of robotic endoscope holders. Advantages to robotic applications in skull base neurosurgery included improved lighting and 3D visualization, replication of more traditional gesture-based movements, and the ability for dexterous movements ordinarily constrained by small operative corridors. Limitations included the size and angulation capacity of the robot, lack of drilling components preventing fully robotic procedures, and cost. Robotic endoscope holders may have been particularly advantageous when the use of a surgical assistant or second surgeon was limited. CONCLUSIONS Robotic skull base neurosurgery has been growing in popularity and feasibility, but significant limitations remain. While robotic systems seem to have allowed for greater maneuverability and 3D visualization, their size and lack of neurosurgery-specific tools have continued to prevent widespread adoption into current practice. The next generation of robotic technologies should prioritize overcoming these limitations.

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Yip, Michael C., Jake A. Sganga, and David B. Camarillo. "Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks." Journal of Medical Robotics Research 02, no. 01 (February 26, 2017): 1750002. http://dx.doi.org/10.1142/s2424905x17500027.

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Continuum manipulators enable minimally-invasive surgery on the beating heart, but the challenges involved in manually controlling the manipulator’s tip position and contact force with the tissue result in failed procedures and complications. The objective of this work is to achieve autonomous robotic control of a continuum manipulator’s position and force in a beating heart model. We present a model-less hybrid control approach that regulates the tip position/force of manipulators with unknown kinematics/mechanics, under unknown constraints along the manipulator’s body. The algorithms estimate the Jacobian in the presence of heartbeat disturbances and sensor noise in real time, enabling closed-loop control. Using this model-less control approach, a robotic catheter autonomously traced clinically relevant paths on a simulated beating heart environment while regulating contact force. A gating procedure is used to tighten the treatment margins and improve precision. Experimental results demonstrate the capabilities of the robot ([Formula: see text][Formula: see text]mm–[Formula: see text][Formula: see text]mm tracking error) while user demonstrations show the difficulty of manually performing the same task ([Formula: see text][Formula: see text]mm–[Formula: see text][Formula: see text]mm tracking error). This new, robotically-enabled contiguous ablation method could reduce ablation path discontinuities, improve consistency of treatment, and therefore improve clinical outcomes.

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Zhou, Zhenning, Xueying Zu, Qixin Cao, and Xiaoxiao Zhu. "A Novel Method for Knot-Tying in Autonomous Robotic assisted Surgery Using Deep Learning." Journal of Physics: Conference Series 1820, no. 1 (March 1, 2021): 012028. http://dx.doi.org/10.1088/1742-6596/1820/1/012028.

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Bauernschmitt, R., E. U. Schirmbeck, A. Knoll, H. Mayer, I. Nagy, N. Wessel, S. M. Wildhirt, and R. Lange. "Towards robotic heart surgery: introduction of autonomous procedures into an experimental surgical telemanipulator system." International Journal of Medical Robotics and Computer Assisted Surgery 1, no. 3 (September 2005): 74–79. http://dx.doi.org/10.1002/rcs.30.

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Steil, Jochen, Dominique Finas, Susanne Beck, Arne Manzeschke, and Reinhold Haux. "Robotic Systems in Operating Theaters: New Forms of Team–Machine Interaction in Health Care." Methods of Information in Medicine 58, S 01 (June 2019): e14-e25. http://dx.doi.org/10.1055/s-0039-1692465.

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Background Health information systems have developed rapidly and considerably during the last decades, taking advantage of many new technologies. Robots used in operating theaters represent an exceptional example of this trend. Yet, the more these systems are designed to act autonomously and intelligently, the more complex and ethical questions arise about serious implications of how future hybrid clinical team–machine interactions ought to be envisioned, in situations where actions and their decision-making are continuously shared between humans and machines. Objectives To discuss the many different viewpoints—from surgery, robotics, medical informatics, law, and ethics—that the challenges of novel team–machine interactions raise, together with potential consequences for health information systems, in particular on how to adequately consider what hybrid actions can be specified, and in which sense these do imply a sharing of autonomous decisions between (teams of) humans and machines, with robotic systems in operating theaters as an example. Results Team–machine interaction and hybrid action of humans and intelligent machines, as is now becoming feasible, will lead to fundamental changes in a wide range of applications, not only in the context of robotic systems in surgical operating theaters. Collaboration of surgical teams in operating theaters as well as the roles, competencies, and responsibilities of humans (health care professionals) and machines (robotic systems) need to be reconsidered. Hospital information systems will in future not only have humans as users, but also provide the ground for actions of intelligent machines. Conclusions The expected significant changes in the relationship of humans and machines can only be appropriately analyzed and considered by inter- and multidisciplinary collaboration. Fundamentally new approaches are needed to construct the reasonable concepts surrounding hybrid action that will take into account the ascription of responsibility to the radically different types of human versus nonhuman intelligent agents involved.

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Wagner, Martin, Sebastian Bodenstedt, Marie Daum, Andre Schulze, Rayan Younis, Johanna Brandenburg, Fiona R. Kolbinger, et al. "The importance of machine learning in autonomous actions for surgical decision making." Artificial Intelligence Surgery 2, no. 2 (2022): 64–79. http://dx.doi.org/10.20517/ais.2022.02.

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Surgery faces a paradigm shift since it has developed rapidly in recent decades, becoming a high-tech discipline. Increasingly powerful technological developments such as modern operating rooms, featuring digital and interconnected equipment and novel imaging as well as robotic procedures, provide several data sources resulting in a huge potential to improve patient therapy and surgical outcome by means of Surgical Data Science. The emerging field of Surgical Data Science aims to improve the quality of surgery through acquisition, organization, analysis, and modeling of data, in particular using machine learning (ML). An integral part of surgical data science is to analyze the available data along the surgical treatment path and provide a context-aware autonomous action by means of ML methods. Autonomous actions related to surgical decision-making include preoperative decision support, intraoperative assistance functions, as well as robot-assisted actions. The goal is to democratize surgical skills and enhance the collaboration between surgeons and cyber-physical systems by quantifying surgical experience and making it accessible to machines, thereby improving patient therapy and outcome. The article introduces basic ML concepts as enablers for autonomous actions in surgery, highlighting examples for such actions along the surgical treatment path.

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Connor, Martin J., Prokar Dasgupta, Hashim U. Ahmed, and Asif Raza. "Autonomous surgery in the era of robotic urology: friend or foe of the future surgeon?" Nature Reviews Urology 17, no. 11 (September 23, 2020): 643–49. http://dx.doi.org/10.1038/s41585-020-0375-z.

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Ge, Yufeng, Chunpeng Zhao, Yu Wang, and Xinbao Wu. "Robot-Assisted Autonomous Reduction of a Displaced Pelvic Fracture: A Case Report and Brief Literature Review." Journal of Clinical Medicine 11, no. 6 (March 14, 2022): 1598. http://dx.doi.org/10.3390/jcm11061598.

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Displaced pelvic fracture is among the most complicated fractures in traumatic orthopedics, with high mortality and morbidity. Reduction is considered a complex procedure as well as a key part in surgical treatment. However, few robotic techniques have been employed in the reduction of pelvic fracture, despite the rapid advancement of technologies. Recently, we designed a robot surgery system specialized in the autonomous reduction of displaced pelvic fracture and applied it in the true patient for the first time. In this paper, we report its successful clinical debut in the surgery of a displaced pelvic fracture. Total surgery time was 110 min and an anatomic reduction was achieved. We then present a brief overview of the literature about reduction techniques in pelvic fracture and introduce related principles involved in our robot-assisted reduction system.

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Cursi, Francesco, George P. Mylonas, and Petar Kormushev. "Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool." Robotics 9, no. 3 (August 31, 2020): 68. http://dx.doi.org/10.3390/robotics9030068.

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Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which are common for minimally invasive surgery, the high nonlinearities in the transmission make modelling complex. Machine learning techniques are a preferred approach to tackle this problem. However, surgical environments are rarely structured, due to organs being very soft and deformable, and unpredictable, for instance, because of fluids in the system, wear and break of the tendons that lead to changes of the system’s behaviour. Therefore, the model needs to quickly adapt. In this work, we propose a method to learn the kinematic model of a redundant surgical robot and control it to perform surgical tasks both autonomously and in teleoperation. The approach employs Feedforward Artificial Neural Networks (ANN) for building the kinematic model of the robot offline, and an online adaptive strategy in order to allow the system to conform to the changing environment. To prove the capabilities of the method, a comparison with a simple feedback controller for autonomous tracking is carried out. Simulation results show that the proposed method is capable of achieving very small tracking errors, even when unpredicted changes in the system occur, such as broken joints. The method proved effective also in guaranteeing accurate tracking in teleoperation.

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Meli, Daniele, Mohan Sridharan, and Paolo Fiorini. "Inductive learning of answer set programs for autonomous surgical task planning." Machine Learning 110, no. 7 (June 15, 2021): 1739–63. http://dx.doi.org/10.1007/s10994-021-06013-7.

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AbstractThe quality of robot-assisted surgery can be improved and the use of hospital resources can be optimized by enhancing autonomy and reliability in the robot’s operation. Logic programming is a good choice for task planning in robot-assisted surgery because it supports reliable reasoning with domain knowledge and increases transparency in the decision making. However, prior knowledge of the task and the domain is typically incomplete, and it often needs to be refined from executions of the surgical task(s) under consideration to avoid sub-optimal performance. In this paper, we investigate the applicability of inductive logic programming for learning previously unknown axioms governing domain dynamics. We do so under answer set semantics for a benchmark surgical training task, the ring transfer. We extend our previous work on learning the immediate preconditions of actions and constraints, to also learn axioms encoding arbitrary temporal delays between atoms that are effects of actions under the event calculus formalism. We propose a systematic approach for learning the specifications of a generic robotic task under the answer set semantics, allowing easy knowledge refinement with iterative learning. In the context of 1000 simulated scenarios, we demonstrate the significant improvement in performance obtained with the learned axioms compared with the hand-written ones; specifically, the learned axioms address some critical issues related to the plan computation time, which is promising for reliable real-time performance during surgery.

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Elazzazi, Maysara, Luay Jawad, Mohammed Hilfi, and Abhilash Pandya. "A Natural Language Interface for an Autonomous Camera Control System on the da Vinci Surgical Robot." Robotics 11, no. 2 (March 25, 2022): 40. http://dx.doi.org/10.3390/robotics11020040.

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Positioning a camera during laparoscopic and robotic procedures is challenging and essential for successful operations. During surgery, if the camera view is not optimal, surgery becomes more complex and potentially error-prone. To address this need, we have developed a voice interface to an autonomous camera system that can trigger behavioral changes and be more of a partner to the surgeon. Similarly to a human operator, the camera can take cues from the surgeon to help create optimized surgical camera views. It has the advantage of nominal behavior that is helpful in most general cases and has a natural language interface that makes it dynamically customizable and on-demand. It permits the control of a camera with a higher level of abstraction. This paper shows the implementation details and usability of a voice-activated autonomous camera system. A voice activation test on a limited set of practiced key phrases was performed using both online and offline voice recognition systems. The results show an on-average greater than 94% recognition accuracy for the online system and 86% accuracy for the offline system. However, the response time of the online system was greater than 1.5 s, whereas the local system was 0.6 s. This work is a step towards cooperative surgical robots that will effectively partner with human operators to enable more robust surgeries. A video link of the system in operation is provided in this paper.

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O'Sullivan, Shane, Nathalie Nevejans, Colin Allen, Andrew Blyth, Simon Leonard, Ugo Pagallo, Katharina Holzinger, Andreas Holzinger, Mohammed Imran Sajid, and Hutan Ashrafian. "Legal, regulatory, and ethical frameworks for development of standards in artificial intelligence (AI) and autonomous robotic surgery." International Journal of Medical Robotics and Computer Assisted Surgery 15, no. 1 (January 9, 2019): e1968. http://dx.doi.org/10.1002/rcs.1968.

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Friebe, Michael, Axel Boese, Katarzyna Heryan, Moritz Spiller, Thomas Sühn, Nazila Esmaeili, and Alfredo Illanes. "Surface and Event Characterization - Proximal Audio Sensing to improve Manual and Robotic Device Interventions." Current Directions in Biomedical Engineering 8, no. 1 (July 1, 2022): 1–4. http://dx.doi.org/10.1515/cdmbe-2022-0001.

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Abstract Minimal-invasive procedures come with significant advantages for the patient. They also come with problems as the navigation/guidance of the devices to a target location is either based on pre-operatively acquired images and then performed free-hand or is accompanied by intraoperative imaging such as MRI or CT that is expensive, complicated and produces artifacts. Using robotic systems for moving and guiding these interventional and therapeutic devices adds additional issues like lack of palpation sensation and missing tissue feedback. While it is possible to add sensors to the distal tip, this creates other obstacles concerning reduced functionality, cables, sterility issues and added complexity and cost. We propose to use a proximally attached audio sensor to record the tissue tool interaction and provide real-time feedback to the clinician. This paper reports on initial attempts to use this technology with robotic arms for surface characterization and interventional vascular procedures that gain increased attention in combination with robotic devices. In summary, Proximal Audio Sensing could be a versatile, cost-effective and powerful tool to guide minimally invasive needle interventions and enable (semi-) autonomous robot-assisted surgery.

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Huang, Kevin, Divas Subedi, Rahul Mitra, Isabella Yung, Kirkland Boyd, Edwin Aldrich, and Digesh Chitrakar. "Telelocomotion—Remotely Operated Legged Robots." Applied Sciences 11, no. 1 (December 28, 2020): 194. http://dx.doi.org/10.3390/app11010194.

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Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots commonly falling in high-profile robotics contests. Telelocomotion can reduce the risk of mission failure by leveraging the high-level understanding of human operators to command in real-time the gaits of legged robots. In this work, a haptic telelocomotion interface was developed. Two within-user studies validate the proof-of-concept interface: (i) The first compared basic interfaces with the haptic interface for control of a simulated hexapedal robot in various levels of traversal complexity; (ii) the second presents a physical implementation and investigated the efficacy of the proposed haptic virtual fixtures. Results are promising to the use of haptic feedback for telelocomotion for complex traversal tasks.

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Mansor, Nuratiqa Natrah, Muhammad Herman Jamaluddin, Ahmad Zaki Shukor, and Chee Cong Lok. "A Study of Accuracy and Time Delay for Bilateral Master-Slave Industrial Robotic Arm Manipulator System." MATEC Web of Conferences 150 (2018): 01015. http://dx.doi.org/10.1051/matecconf/201815001015.

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Bilateral master-slave industrial robotic arm manipulator system is an advanced technology used to help human to interact with environments that are unreachable to human, due to its remoteness or perilous. The system has been used in different areas such as tele-surgery, autonomous tele-operation for sea and space operation and handling explosive or high radiation operation fields. It is beneficial both for science and society. Remarkably, the system is not common and generally used in Malaysia. Likewise, the number of research conducted that focused about this technology in our country manufacturing industry are not yet discovered and existent. The implementation of this bilateral manipulator system in an industrial robot could be useful for industrial imminent and development over our country and people, specifically for production yield size and human operative. Hence, the study of bilateral robotic arm manipulator system in an industrial robot and analyzation of its performance and time delay in 3 differ controllers will be discussed to attest the efficiency and its effectiveness on the said design system. The experiment conducted was on KUKA youBot arm in V-Rep simulation with three different controllers (P, PD, PID).

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Ficuciello, Fanny, Guglielmo Tamburrini, Alberto Arezzo, Luigi Villani, and Bruno Siciliano. "Autonomy in surgical robots and its meaningful human control." Paladyn, Journal of Behavioral Robotics 10, no. 1 (January 1, 2019): 30–43. http://dx.doi.org/10.1515/pjbr-2019-0002.

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AbstractThis article focuses on ethical issues raised by increasing levels of autonomy for surgical robots. These ethical issues are explored mainly by reference to state-ofart case studies and imminent advances in Minimally Invasive Surgery (MIS) and Microsurgery. In both area, surgicalworkspace is limited and the required precision is high. For this reason, increasing levels of robotic autonomy can make a significant difference there, and ethically justified control sharing between humans and robots must be introduced. In particular, from a responsibility and accountability perspective suitable policies for theMeaningfulHuman Control (MHC) of increasingly autonomous surgical robots are proposed. It is highlighted how MHC should be modulated in accordance with various levels of autonomy for MIS and Microsurgery robots. Moreover, finer MHC distinctions are introduced to deal with contextual conditions concerning e.g. soft or rigid anatomical environments.

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Pransky, Joanne. "The Pransky interview: Professor Moshe Shoham, Founder of Mazor Robotics and Microbot Medical." Industrial Robot: An International Journal 41, no. 5 (August 12, 2014): 393–97. http://dx.doi.org/10.1108/ir-07-2014-0367.

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Purpose – The purpose of this article is to present a “Q&A interview” conducted by Joanne Pransky of the Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned entrepreneur regarding the evolution, commercialization and challenges of bringing a technological invention to market. Design/methodology/approach – The interviewee is Professor Moshe Shoham, Director of the Robotics Laboratory, Department of Mechanical Engineering, Technion, Israel Institute of Technology. Professor Shoham is also the Founder of Mazor Robotics Ltd. and the co-founder of Microbot Medical. As a pioneer of new and developing fields in medical robotics, Shoham describes his major advancements and innovative approaches. Findings – Professor Moshe Shoham has BSc in Aeronautical Engineering, MSc and DSc in Mechanical Engineering from Technion, where he has been teaching for the past nearly 30 years, and is currently the Tamara and Harry Handelsman Academic Chair in the Faculty of Mechanical Engineering. The Technion is renowned for the ingenuity of its graduates, who comprise 70 per cent of Israel’s founders and managers of high-tech industries, making Israel the greatest concentration of high-tech start-up companies anywhere outside of Silicon Valley, California, USA. Along with Technion’s expert faculty, students and facilities, Professor Shoham founded Mazor Robotics in 2001 and co-founded Microbot Medical Ltd. in 2010. Originality/value – Professor Shoham, a worldwide acclaimed authority in the field of robotics whose life work is dedicated to developing technologies that improve patient care, is the inventor of the first commercially available mechanical guidance system for spine surgery, the Mazor Robotics Renaissance™ Guidance System. He is also the visionary and creator of the unprecedented Microbot ViRob, an Autonomous Advancing Micro Robot, <1 mm in diameter, which has the ability to crawl within cavities/lumens, allowing physicians to target a disease site with exquisite precision. His latest work includes a revolutionary swimming Micro Robot and the new Mazor Renaissance® Brain Surgery. Professor Shoham holds 30 patents and more than a dozen awards, including the recent prestigious 2013 Thomas A. Edison Patent Award and the election into the National Academy of Engineering.

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Li, Baichun, Utkarsh Sinha, and Ganesh Sankaranarayanan. "Modelling and control of non-linear tissue compression and heating using an LQG controller for automation in robotic surgery." Transactions of the Institute of Measurement and Control 38, no. 12 (July 22, 2016): 1491–99. http://dx.doi.org/10.1177/0142331215596062.

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Robot-assisted surgery is being widely used as an effective approach to improve the performance of surgical procedures. Autonomous control of surgical robots is essential for tele-surgery with time delay and increased patient safety. In order to improve safety and reliability of the surgical procedure of tissue compression and heating, a control strategy for simultaneously automating the surgical task is presented in this paper. First, the electrosurgical procedure such as vessel closure that involves tissue compression and heating has been modelled with a multiple-input–multiple-output (MIMO) non-linear system for automation simultaneous. After linearizing the models, the linear-quadratic Gaussian (LQG) is used to control the tissue compression process and tissue heating process, and the particle swarm optimization (PSO) algorithm was used to choose the optimal weighting matrices for the LQG controllers according to the desired controlling accuracy. The LQG controllers with optimal weights were able to track both the tissue compression and temperature references in finite time horizon and with minimal error (tissue compression – the max absolute error was [Formula: see text] m and temperature – the max absolute error is 0.4561°C). Compared with a LQG controller with weighting matrices chosen by trial and error, a PSO-based optimized controller provided the least error and faster convergence. We have developed a control framework for simultaneously automating the surgical tasks of tissue compression and heating in robotic surgery, and modelled the automation of electrosurgical task using LQG controller with optimal weighting matrix obtained using a PSO algorithm.

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Khadem, Seyed Mohsen, Saeed Behzadipour, Alireza Mirbagheri, and Farzam Farahmand. "A modular force-controlled robotic instrument for minimally invasive surgery - efficacy for being used in autonomous grasping against a variable pull force." International Journal of Medical Robotics and Computer Assisted Surgery 12, no. 4 (January 25, 2016): 620–33. http://dx.doi.org/10.1002/rcs.1727.

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