Medical robotics: Minimally invasive surgery

330 Pages·2012·6.063 MB·English

by  Paula Gomes

Medical robotics
© Woodhead Publishing Limited, 2012
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© Woodhead Publishing Limited, 2012
Woodhead Publishing Series in Biomaterials: Number 51
Medical robotics
Minimally invasive surgery
Edited by
Paula Gomes
Oxford Cambridge Philadelphia New Delhi
© Woodhead Publishing Limited, 2012
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© Woodhead Publishing Limited, 2012
Contents
Contributor contact details ix
Woodhead Publishing Series in Biomaterials xiii
Introduction xix
1 Introduction to robot-assisted minimally invasive
surgery (MIS) 1
V. Vitiello, K.-W. KWoK and G.-Z. YanG, The Hamlyn Centre for
Robotic Surgery, Imperial College London, UK
1.1 Introduction 1
1.2 Minimally invasive surgery and robotic integration 2
1.3 Definitions and development of surgical robotic systems 4
1.4 Perceptual docking for synergistic control 25
1.5 Conclusions and future trends 32
1.6 References 34
2 Localization and tracking technologies for medical
robotics 41
N. Glossop, Queen’s University, Canada
2.1 Introduction 41
2.2 Requirements for position sensors 42
2.3 Dynamic referencing 46
2.4 Types of position sensors 46
2.5 Future trends 57
2.6 Conclusion 57
2.7 References 57
3 Robotics for neurosurgery 59
t. l. Cossetto, K. Zareinia and G. R. sutherland, University of
Calgary, Canada
3.1 Introduction to neurosurgical progression 59
3.2 The evolution of neurosurgical robots 61
3.3 Maintaining operator control 64
v
© Woodhead Publishing Limited, 2012
vi Contents
3.4 Human–machine interface (HMI) 65
3.5 Future trends: informatic surgery 74
3.6 Conclusion 75
3.7 Acknowledgments 75
3.8 References 76
4 Robotic systems for cardiovascular interventions 78
M. A. Zenati and M. MahVash, Harvard Medical School, USA
4.1 Introduction 78
4.2 Heart conditions and the evolving role of cardiac surgeons
and cardiologists 78
4.3 Surgical robot requirements and availability for
cardiovascular interventions 81
4.4 Proposed novel robots for cardiovascular interventions 82
4.5 Future trends 87
4.6 Sources of further information and advice 88
4.7 References 88
5 Robotics in orthopaedic surgery 90
A. hodGson, UBC Mechanical Engineering, Canada
5.1 Introduction 90
5.2 Existing orthopaedic robotic systems 92
5.3 Evaluation of impact of orthopaedic surgical robots 95
5.4 Conclusion 108
5.5 References 110
6 Robotic-assisted knee replacement surgery 113
C. plasKos, OMNIlife Science, Inc., USA, J. A. KoeniG,
Winthrop University Hospital, USA and C. E. ponder, Oklahoma
Sports and Orthopedics Institute, USA
6.1 Introduction 113
6.2 Apex robotic technology (ART) 126
6.3 Clinical experience 138
6.4 Conclusions and future trends 152
6.5 Acknowledgments 153
6.6 References 153
7 Robotics in ear, nose and throat (ENT) surgery 159
B. Bell, M. D. CaVersaCCio and S. WeBer, University of Bern,
Switzerland
7.1 Introduction 159
7.2 Telemanipulators in ENT 160
7.3 Image-guided interventions 167
© Woodhead Publishing Limited, 2012
Contents vii
7.4 Computer numerical control (CNT) 172
7.5 Conclusions 180
7.6 References 181
8 Robotic-assisted vitreoretinal surgery 185
H. C. M. MeeninK, r. hendrix, G. J. l. naus, M. J. Beelen,
h. niJMeiJer and M. steinBuCh, Eindhoven University of
Technology, The Netherlands, E. J. G. M. Van oosterhout,
Catherina Hospital Eindhoven, The Netherlands and M. D. de sMet,
Montchoisi Clinic, Switzerland and University of Amsterdam,
The Netherlands
8.1 Introduction 185
8.2 Requirements for vitreoretinal surgery 187
8.3 Master console 193
8.4 Slave robot 198
8.5 Results 203
8.6 Conclusions and future trends 206
8.7 Acknowledgments 207
8.8 References 208
9 Robotics for minimally invasive surgery (MIS) and
natural orifice transluminal endoscopic surgery
(NOTES) 210
J. reYnoso, A. MeYer, J. unnireVi and D. oleYniKoV, University of
Nebraska Medical Center, USA
9.1 Introduction 210
9.2 Minimally invasive surgery (MIS) 211
9.3 Natural orifice transluminal endoscopic surgery (NOTES) 216
9.4 Future trends and conclusions 221
9.5 References 223
10 Mesoscale mobile robots for gastrointestinal
minimally invasive surgery (MIS) 224
J. L GorleWiCZ, R. J. WeBster III and P. Valdastri, Vanderbilt
University, USA
10.1 Introduction 224
10.2 Commercial gastrointestinal wireless capsule endoscopes 225
10.3 Robotic capsule modules 227
10.4 Future trends in mobile surgical devices 242
10.5 Conclusion 243
10.6 References 244
© Woodhead Publishing Limited, 2012
viii Contents
11 Real-time software platform using MRI for in vivo
navigation of magnetic microrobots 252
K. Belharet, D. Folio and A. Ferreira, Laboratoire PRISME, Ecole
Nationale Supérieure d’Ingénieurs de Bourges, France
11.1 Introduction 252
11.2 Magnetic resonance imaging (MRI) navigation 254
11.3 Microrobot navigation 259
11.4 Conclusions and future trends 271
11.5 Sources of further information and advice 272
11.6 References 273
12 Robotic surgery and ethical challenges 276
N. sharKeY and A. sharKeY, University of Sheffield, UK
12.1 Introduction 276
12.2 Types of robotic surgery 278
12.3 The patient experience of robotic surgery 279
12.4 The marketing of robotic surgery 280
12.5 Comparing robotic surgery with other types of surgery 282
12.6 The need for training 283
12.7 Costs versus benefits 285
12.8 Ethical issues relating to remotely operated surgery 286
12.9 The automated hospital 288
12.10 Conclusions 289
12.11 References 289
Index 293
© Woodhead Publishing Limited, 2012
Contributor contact details
(* = main contact)
Editor Chapter 2
Paula Gomes Neil Glossop
Cambridge Consultants School of Computing
Science Park 557 Goodwin Hall
Milton Road Queen’s University
Cambridge Kingston, Ontario
CB4 0DW K7L 3N6
UK Canada
E-mail: [email protected] E-mail: [email protected]
Chapter 1 Chapter 3
V. Vitiello, K.-W. Kwok and G.-Z. Tyler Cossetto
Yang* Research Assistant
The Hamlyn Centre for Robotic Department of Clinical
Surgery Neurosciences
Level 4, Bessemer Building University of Calgary
Imperial College London Health Research Innovation Centre
London 3280 Hospital Drive NW
SW7 2AZ Calgary, Alberta
UK T2N 4Z6
Canada
E-mail: [email protected]
ix
© Woodhead Publishing Limited, 2012