slides
Robot-Assisted Laparoscopic
Surgery - da Vinci System
*Some of the slides adopted from: Amanda Neves
University of Rhode Island Department of Computer, Electrical, and Biomedical Engineering by Shachar Ilan
Robot-Assisted Surgery
The Vision – Ridley Scott
What is Laparoscopic surgery?
Minimally invasive operation performed in pelvis or abdomen through small incisions
Done for diagnostic purpose or to perform a surgical procedure
Tools for Standard Laparoscopic Surgery
Digital laparoscope - Small
Camera + Light source
Inserted through tiny tube
(cannula) to see the operation
Abdomen is then inflated with carbon dioxide (not harmful to body) to raise abdominal wall above organs
Click for video: https://www.youtube.com/watch?v=
8vlKmnIVxZU
Laparoscopic Surgery – Pros and Cons
Pros - Patients experience less pain, smaller chance of hemorrhaging, and shorter recovery time
Displaced hands and view
Requires surgeons to stands
Hard to learn – leads to complications with inexperienced doctors
da Vinci System - Console
Surgery is performed without any direct contact between surgeon and patient
Doctor sits away from operating table at an ergonomic, customizable computer console viewing 3D visual of operative region
Can theoretically be in another room (or another continent)
da Vinci System - Robot
Multi-arm laparoscopic surgery robot replicates the surgeons’ motions with tiny tools inserted in the patients’ body through small incisions.
Surgeon's hand movements are scaled, filtered and translated the into more precise micromovements of the instruments.
Click to play: https://www.youtube.com/watch?
v=LzYmDbISnzY
da Vinci Operation Room
Components of da Vinci System
Dual consoles allows doctors to collaborate in a very small space.
7 DOF with wrist at tip of tool, allow for a very wide range of motion, wider than a human hand.
A variety of tools can be mounted on robotic arms and switched easily. Tool positions can be memorized and repositioned by system
Force applied can be limited electronically
Con – Surgeon gets no force feedback
da Vinci System – Some Statistics
FDA Approved since 2000
Approximately 300,000 da Vinci procedures performed yearly
Cost ~1.8M$ + ~150K$ Yearly Maintenance
2000+ Systems installed worldwide
◦ 1500 in USA, 5 in Israel
Most common procedures:
◦ hysterectomies and prostate removals
Pros and Cons of da Vinci System
Pros
Can perform more delicate procedures
Does not leave a large surgical scar
More high risk patients can undergo surgery because it’s less invasive
Cons
Cost - $1+ million
Steep learning curve
Expensive training
Inability to feel the tissue
Surgery with this system takes 40-50 minutes longer
Future of Robotic Surgery –
Possibilities
◦ Tele-surgery
◦ Haptics
◦ Single incision port with miniature snake-like robotic arms
◦ In-surgery guidance by fusing information from prior CT, PET, MRI etc.
◦ Surgery performed first in simulator planning environment, then robot re-enacts successful surgery on patient
◦ Far future –Semi/Fully automated surgery
Thank you
Sources:
◦ Amanda Neves, University of Rhode Iland: www.ele.uri.edu/courses/ele482/S10/AmandaN_1.ppt
◦ Anna Oleksiewicz, University of Illinois: https://wiki.engr.illinois.edu/display/BIOE414/Description+of+the+major+components+in+th e+da+Vinci+surgical+system
◦ Jennifer Poland, Business Insider: http://www.businessinsider.com/the-future-of-robotic-surgery-2012-7
◦ Ryan Bradley, Fortune: http://tech.fortune.cnn.com/2013/01/15/robotic-surgeons
◦ Intuitive Surgical: http://www.intuitivesurgical.com/
◦ Dr. Catherine Mohr, TED Talk: http://www.ted.com/talks/catherine_mohr_surgery_s_past_present_and_robotic_futre.html
◦ Wikipedia: http://en.wikipedia.org/wiki/Robotic_surgery
