Within the past twenty years, the field of robotics has been finding many areas of applications ranging from space to underwater explo rations. One of these areas which is slowly gaining popularity among the users group is the notion of service robotics. This book is an in vestigation and exploration of engineering principles in the design and development of mechanisms and robotic devices that can be used in the field of surgery. Specifically the results of this book can be used for designing tools for class of Minimally Invasive Surgery (MIS). Generally, Minimal Invasive Surgery (MIS), e. g. laparoscopic surgery, is performed by using long surgical tools, that are inserted through small incisions at the ports of entry to the body (e. g. abdominal wall) for reaching the surgical site. The main drawback of current designs of en doscopic tools is that they are not able to extend all the movements and sensory capabilities of the surgeon's hand to the surgical site. By im proving surgical procedures, training, and more practice, it is possible for surgeons to reduce completion time for each task and increase their level of skill. However, even in the best cases the level of performance of a surgeon in Minimally Invasive Surgery is still a fraction of the con ventional surgery. Any dramatically improvement is usually driven by introduction of new tools or systems that in turn bring totally new pro cedures and set of skills.
Handbook of Robotic and Image-Guided Surgery provides state-of-the-art systems and methods for robotic and computer-assisted surgeries. In this masterpiece, contributions of 169 researchers from 19 countries have been gathered to provide 38 chapters. This handbook is 744 pages, includes 659 figures and 61 videos. It also provides basic medical knowledge for engineers and basic engineering principles for surgeons. A key strength of this text is the fusion of engineering, radiology, and surgical principles into one book. - A thorough and in-depth handbook on surgical robotics and image-guided surgery which includes both fundamentals and advances in the field - A comprehensive reference on robot-assisted laparoscopic, orthopedic, and head-and-neck surgeries - Chapters are contributed by worldwide experts from both engineering and surgical backgrounds
Progess in specific computer-assisted techniques (digital imaging , computer-aided diagnosis, image-guided surgery, MEMS, etc.) combined with computer-assisted integration tools offers a valuable complement to or replacement for existing procedures in healthcare. Physicians are now employing PACS and telemedicine systems as enabling infrastructures to improve quality of and access to healthcare. Tools based on CAD and CAS facilitate completely new paths in patient care. To ensure that CARS tools benefit the patient, collaboration between various disciplines, specifically radiology, surgery, engineering, informatics, and healthcare management, is a critical factor. A multidisciplinary congress like CARS is a step in the desired direction of knowledge sharing and crossover education. It provides the necessary cooperative framework for advancing the development and application of modern computer-assisted technologies in healthcare.
The fifth international Conference in Medical Image Computing and Computer Assisted Intervention (MICCAI 2002) was held in Tokyo from September 25th to 28th, 2002. This was the first time that the conference was held in Asia since its foundation in 1998. The objective of the conference is to offer clinicians and scientists the opportunity to collaboratively create and explore the new medical field. Specifically, MICCAI offers a forum for the discussion of the state of art in computer-assisted interentions, medical robotics, and image processing among experts from multi-disciplinary professions, including but not limited to clinical doctors, computer scientists, and mechanical and biomedical engineers. The expectations of society are very high; the advancement of medicine will depend on computer and device technology in coming decades, as they did in the last decades. We received 321 manuscripts, of which 41 were chosen for oral presentation and 143 for poster presentation. Each paper has been included in these proceedings in eight-page full paper format, without any differentiation between oral and poster papers. Adherence to this full paper format, along with the increased number of manuscripts, surpassing all our expectations, has led us to issue two proceedings volumes for the first time in MICCAI’s history. Keeping to a single volume by assigning fewer pages to each paper was certainly an option for us considering our budget constraints. However, we decided to increase the volume to offer authors maximum opportunity to argue the state of art in their work and to initiate constructive discussions among the MICCAI audience.
The International Symposium on the History of Machines and Mechanisms is the main activity of the Permanent Commission (PC) for the History of Mechanism and Machine Science (HMM) of the International Federation for the Promotion of Mechanism and Machine Science (IFToMM). The first symposium, HMM2000, was initiated by Dr. Marco Ceccarelli and was held at the University of Cassino (Cassino, Italy) on May 11–13, 2000. The second symposium, HMM2004, was chaired by Dr. Marco Ceccarelli and held at the same venue on May 12–15, 2004. The third symposium, HMM2008, was chaired by Dr. Hong-Sen Yan and held at the National Cheng Kung University (Tainan, Taiwan) on November 11–14, 2008. The mission of IFToMM is to promote research and development in the field of machines and mechanisms by theoretical and experimental methods, along with their practical applications. The aim of HMM2008 is to establish an international forum for presenting and discussing historical developments in the field of Mechanism and Machine Science (MMS). The subject area covers all aspects of the development of HMM, such as machine, mechanism, kinematics, design method, etc., that are related to people, events, objects, anything that assisted in the development of the HMM, and presented in the forms of reasoning and ar- ments, demonstration and identification, and description and evaluation.
Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.
There is an increasing demand to develop intelligent robotics and autonomous systems to deal with dynamically changing and complex, unstructured, and unpredictable environments. Such robots should be able to handle task varieties, environment dynamics and goal variations, and their complexity. This also highlights the need for having intelligent robotics and autonomous systems with capabilities assuring reliable and robust functions resolving real-time complex problems that are associated with many applications across diverse domains. This requires unconventional ways to develop creative and innovative, energy-efficient, and eco- and environmentally friendly solutions that consider new ways of creative thinking while drawing inspiration from nature as a model leading to creating new designs, intelligent systems, intelligent structures/mechanisms, reconfigurability, and more. Global Perspectives on Robotics and Autonomous Systems: Development and Applications describes the evolution of robotics and autonomous systems, their development, their technologies, and their applications. This book discusses the concept of autonomy, requirements, and its role in shaping the behavior of these robots so that they can make their own effective and safe decisions and act on them reliably while assuring real-life requirements. Covering topics such as digital transformation, fused deposition modeling (FDM), and organizational unbundling process, this premier reference source is an essential resource for engineers, computer scientists, industry professionals, manufacturers, smart systems developers, data analysts, students and educators of higher educations, researchers, and academicians.
The Encyclopedia of Medical Robotics combines contributions in four distinct areas of Medical robotics, namely: Minimally Invasive Surgical Robotics, Micro and Nano Robotics in Medicine, Image-guided Surgical Procedures and Interventions, and Rehabilitation Robotics. The volume on Minimally Invasive Surgical Robotics focuses on robotic technologies geared towards challenges and opportunities in minimally invasive surgery and the research, design, implementation and clinical use of minimally invasive robotic systems. The volume on Micro and Nano robotics in Medicine is dedicated to research activities in an area of emerging interdisciplinary technology that is raising new scientific challenges and promising revolutionary advancement in applications such as medicine and biology. The size and range of these systems are at or below the micrometer scale and comprise assemblies of micro and nanoscale components. The volume on Image-guided Surgical Procedures and Interventions focuses primarily on the use of image guidance during surgical procedures and the challenges posed by various imaging environments and how they related to the design and development of robotic systems as well as their clinical applications. This volume also has significant contributions from the clinical viewpoint on some of the challenges in the domain of image-guided interventions. Finally, the volume on Rehabilitation Robotics is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to re-learn, improve, or restore functional movements in humans.Volume 1, Minimally Invasive Surgical Robotics, focuses on an area of robotic applications that was established in the late 1990s, after the first robotics-assisted minimally invasive surgical procedure. This area has since received significant attention from industry and researchers. The teleoperated and ergonomic features of these robotic systems for minimally invasive surgery (MIS) have been able to reduce or eliminate most of the drawbacks of conventional (laparoscopic) MIS. Robotics-assisted MIS procedures have been conducted on over 3 million patients to date — primarily in the areas of urology, gynecology and general surgery using the FDA approved da Vinci® surgical system. The significant commercial and clinical success of the da Vinci® system has resulted in substantial research activity in recent years to reduce invasiveness, increase dexterity, provide additional features such as image guidance and haptic feedback, reduce size and cost, increase portability, and address specific clinical procedures. The area of robotic MIS is therefore in a state of rapid growth fueled by new developments in technologies such as continuum robotics, smart materials, sensing and actuation, and haptics and teleoperation. An important need arising from the incorporation of robotic technology for surgery is that of training in the appropriate use of the technology, and in the assessment of acquired skills. This volume covers the topics mentioned above in four sections. The first section gives an overview of the evolution and current state the da Vinci® system and clinical perspectives from three groups who use it on a regular basis. The second focuses on the research, and describes a number of new developments in surgical robotics that are likely to be the basis for the next generation of robotic MIS systems. The third deals with two important aspects of surgical robotic systems — teleoperation and haptics (the sense of touch). Technology for implementing the latter in a clinical setting is still very much at the research stage. The fourth section focuses on surgical training and skills assessment necessitated by the novelty and complexity of the technologies involved and the need to provide reliable and efficient training and objective assessment in the use of robotic MIS systems.In Volume 2, Micro and Nano Robotics in Medicine, a brief historical overview of the field of medical nanorobotics as well as the state-of-the-art in the field is presented in the introductory chapter. It covers the various types of nanorobotic systems, their applications and future directions in this field. The volume is divided into three themes related to medical applications. The first theme describes the main challenges of microrobotic design for propulsion in vascular media. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this section, a collection of four papers review the potential medical applications of motile nanorobots, catalytic-based propelling agents, biologically-inspired microrobots and nanoscale bacteria-enabled autonomous drug delivery systems. The second theme relates to the use of micro and nanorobots inside the body for drug-delivery and surgical applications. A collection of six chapters is presented in this segment. The first chapter reviews the different robot structures for three different types of surgery, namely laparoscopy, catheterization, and ophthalmic surgery. It highlights the progress of surgical microrobotics toward intracorporeally navigated mechanisms for ultra-minimally invasive interventions. Then, the design of different magnetic actuation platforms used in micro and nanorobotics are described. An overview of magnetic actuation-based control methods for microrobots, with eventually biomedical applications, is also covered in this segment. The third theme discusses the various nanomanipulation strategies that are currently used in biomedicine for cell characterization, injection, fusion and engineering. In-vitro (3D) cell culture has received increasing attention since it has been discovered to provide a better simulation environment of in-vivo cell growth. Nowadays, the rapid progress of robotic technology paves a new path for the highly controllable and flexible 3D cell assembly. One chapter in this segment discusses the applications of micro-nano robotic techniques for 3D cell culture using engineering approaches. Because cell fusion is important in numerous biological events and applications, such as tissue regeneration and cell reprogramming, a chapter on robotic-tweezers cell manipulation system to achieve precise laser-induced cell fusion using optical trapping has been included in this volume. Finally, the segment ends with a chapter on the use of novel MEMS-based characterization of micro-scale tissues instead of mechanical characterization for cell lines studies.Volume 3, Image-guided Surgical Procedures and Interventions, focuses on several aspects ranging from understanding the challenges and opportunities in this domain, to imaging technologies, to image-guided robotic systems for clinical applications. The volume includes several contributions in the area of imaging in the areas of X-Ray fluoroscopy, CT, PET, MR Imaging, Ultrasound imaging, and optical coherence tomography. Ultrasound-based diagnostics and therapeutics as well as ultrasound-guided planning and navigation are also included in this volume in addition to multi-modal imaging techniques and its applications to surgery and various interventions. The application of multi-modal imaging and fusion in the area of prostate biopsy is also covered. Imaging modality compatible robotic systems, sensors and actuator technologies for use in the MRI environment are also included in this work., as is the development of the framework incorporating image-guided modeling for surgery and intervention. Finally, there are several chapters in the clinical applications domain covering cochlear implant surgery, neurosurgery, breast biopsy, prostate cancer treatment, endovascular interventions, neurovascular interventions, robotic capsule endoscopy, and MRI-guided neurosurgical procedures and interventions.Volume 4, Rehabilitation Robotics, is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to relearn, improve, or restore functional movements in humans. This volume attempts to cover a number of topics relevant to the field. The first section addresses an important activity in our daily lives: walking, where the neuromuscular system orchestrates the gait, posture, and balance. Conditions such as stroke, vestibular deficits, or old age impair this important activity. Three chapters on robotic training, gait rehabilitation, and cooperative orthoses describe the current works in the field to address this issue. The second section covers the significant advances in and novel designs of soft actuators and wearable systems that have emerged in the area of prosthetic lower limbs and ankles in recent years, which offer potential for both rehabilitation and human augmentation. These are described in two chapters. The next section addresses an important emphasis in the field of medicine today that strives to bring rehabilitation out from the clinic into the home environment, so that these medical aids are more readily available to users. The current state-of-the-art in this field is described in a chapter. The last section focuses on rehab devices for the pediatric population. Their impairments are life-long and rehabilitation robotics can have an even bigger impact during their lifespan. In recent years, a number of new developments have been made to promote mobility, socialization, and rehabilitation among the very young: the infants and toddlers. These aspects are summarized in two chapters of this volume.
An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave systems, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.
