Robot Assisted Surgery Flashcards
Open Surgery Advantages
- Surgeons can use their hands: full haptic senses.
- Wide visual field.
- Extensive range of excellent instruments.
Open Surgery Disadvantages
- Highly invasive (large incisions).
- Long recovery.
- Blood loss.
Endoscopic procedures: Advantages:
- Magnified vision.
- Smaller incisions (reduced invasiveness).
- Fast patient recovery.
- Reduced blood loss.
Endoscopic procedures Disadvantages:
- Loss of haptic senses.
- Loss of 3D vision.
- Narrow field of view.
- Reduced dexterity.
- Poor ergonomics.
Explain Control loop in open and minimal invasive:
It goes from surgeon (visual and haptic feedback and patient data rely entirely on surgeons’ capability) to tools to patient.
How can the control loop be improved
by adding a control unit to sensor feedback and patient data. This way it would be: surgeon – control unit – robot – patient.
What problems do surgeon face:
- Instruments have to be placed accurately to assure patient safety and limited invasiveness.
- Preoperative planning and patient situation in operation theatre are likely to show differences.
How can the challenges of the surgeon be improved?
- Provide surgeon with a tool to visualise instruments in patient anatomy shown in images.
- Improve hand-eye coordination.
What is the purpose of image guided surgery?
improve precision of procedures and reduce invasiveness.
Robots are:
- accurate and precise.
- smaller or larger than people (as needed)
- remotely operated (as needed)
- connected to computers, which gives them access to information
- not always able to operate autonomously in highly complex, uncertain environments → human interaction
required
Robotic surgery:
-Allows to overcome the limitations of minimal invasive surgery (vision, dexterity, precision).
-Surgery can be performed with higher precision than conventional minimal invasive surgery.
-Vision can be improved (3D vision, high magnification) dependent on the robotic system.
Cooperative robots, their purpose, what is the mechanism, and the advantages?
Their purpose is to stabilise hand movement of surgeon to reduce tremor. They have a motion scaling: large hand movements are translated into small movements. They have higher precision and accuracy.
what does Teleoperation consist of:
The teleoperation in surgery consists of a slave robot/patient-side robot. The surgeon controls the patient-side.
Autonomous
The robot is interacting with patient without external control and therefore, it makes decisions. This is yet rarely used since it needs further development in order to have more safety in the patient.
What is Da Vinci Surgical System?
Robotic minimal invasive surgery system that is most commonly used and commercially successful
How does davinci compare to conventional MIS?
Superior ergonomics compared to conventional minimal invasive surgery.
What does the DaVinci consist of?
The components consist of:
- 3 robotic arms: hand-motion scaling removes tremor.
- 1 camera arm: binocular camera (3D/HD imaging), visual magnification and stable camera platform.
- Console: surgeon controls camera plus 3 instruments.
What feature does the Davinci have?
It has wristed instruments with 7 degrees of freedom; no fighting abdominal wall torque and, intuitive motion.
What does the DaVinci Vision system consist of?
- Superior 3D visualization with magnification.
- Two optical channels and two independent monitors (stereovision).
- Depth perception.
- Eye-hand coordination improved compared to conventional minimal invasive surgery.
What are the Advantages of the DaVinci?
- Entry technology for difficult to perform operations.
- Great for “small dark hole” operations
- Downgrades need for experienced assistant
- Surgeon’s comfort
- Patient preference
What are the Disadvantages of the DaVinci?
- Increased cost (instruments, machine, time)– installation cost of approx.£1.5 million
- If surgeon is already skilled in laparoscopic procedure, no real advantage
- Room staff and setup is specialized
- Loss of haptics
What is the Cyberknife?
It’s a robotic radiation delivery system that is used in the treatment of tumours and other targets. It has precise delivery of radiation.
How is safety kept in robotics? List the approaches?
Safety of industrial robots is ensured by keeping humans out of the workspace. Medical robots come in contact with both patients and clinicians/caregivers. Approaches include:
- Low force and speed
- Risk analysis (eliminate single points of failure)
- Fault tolerance (hardware and software)
- Fail safe design (system fails to a safe state)
- Redundant sensing
