An Overview of the Current State and Uses of Surgical Robots

Sliding Perturbation Observer Based Reaction Force Estimation Method of Surgical Robot Instrument for Haptic Realization

Previous research applied sliding mode control with a sliding perturbation observer (SMCSPO) algorithm as a robust controller to control a surgical robotic instrument and reported that reaction force loaded on the tip can be estimated similarly by the sliding perturbation observer (SPO). However, some factors, such as friction, in which it is difficult to find the model parameters beforehand, can have an effect on the reaction force estimation because the factors are included in the estimated perturbation. This paper addresses the SPO based reaction force estimation method to extract a pure reaction force on a surgical robot instrument in the case of including Coulomb friction due to the operation of cable-pulley structure. Coulomb friction can be estimated experimentally and compensated for from the estimated perturbation. An experimental evaluation was performed to prove the suggested estimation method. The results show that SPO can be substituted for sensors to measure the reaction force. This estimated reaction force will be used to realize the haptic function by sending the reaction force to a master device for a surgeon. The results will help to create surgical benefit such as shortening the practice time of a surgeon and providing haptic information to the surgeon by using it as haptic signal to protect an organ by forming a force boundary.

Robotic surgery in cancer care: opportunities and challenges

Malignancy-associated mortality, decreased productivity, and spiritual, social and physical burden in cancer patients and their families impose heavy costs on communities. Therefore cancer prevention, early detection, rapid diagnosis and timely treatment are very important. Use of modern methods based on information technology in cancer can improve patient survival and increase patient and health care provider satisfaction. Robot technology is used in different areas of health care and applications in surgery have emerged affecting the cancer treatment domain. Computerized and robotic devices can offer enhanced dexterity by tremor abolition, motion scaling, high quality 3D vision for surgeons and decreased blood loss, significant reduction in narcotic use, and reduced hospital stay for patients. However, there are many challenges like lack of surgical community support, large size, high costs and absence of tactile and haptic feedback. A comprehensive view to identify all factors in different aspects such as technical, legal and ethical items that prevent robotic surgery adoption is thus very necessary. Also evidence must be presented to surgeons to achieve appropriate support from physicians. The aim of this review article is to survey applications, opportunities and barriers to this advanced technology in patients and surgeons as an approach to improve cancer care.

Anthropometric Assessment of the da Vinci Surgical Robot

The purpose of this paper is to describe an ergonomic assessment of a da Vinci Surgical Robot. The use of surgical robots has significantly enhanced the surgeon's control and visualization during minimally invasive surgery. In turn, these technological advances have translated into significant benefits to the patients compared to traditional laparoscopic techniques. However, use of surgical robots requires that surgeons sit for extended periods at a surgical console from which they control the robotic arms and view the surgical procedure through a high resolution viewer. This can lead to sustained trunk and neck flexion, resulting in discomfort in those regions. The system was analyzed through observational assessment and anthropometric modeling. The results of the analysis indicate that the current adjustability of the da Vinci console is sufficient for a large majority of the population, but individuals shorter than 60“ or taller than 72” face challenges in using the system.

Biotribological investigation of a multi-tube foot for traction generation in a medical microrobot

In recent years, efforts to develop microrobots for medical applications have been expanding. One of the key design issues in such microrobots is to attain adequate frictional interaction between the robotic foot and the organ tissue. In particular, it is important to generate the necessary frictional force without damaging the tissue. In this work, a design for the robotic foot was proposed on the basis of the frictional behaviour of a tube structure. Fundamental experiments were initially performed to understand the biotribological behaviour of the tube and rod structures. The design was then modified to a multi-tube structure to achieve adequate frictional behaviour. Biotribological investigation of a multi-tube foot in contact with a small intestine specimen of a pig was conducted using a pin-on-reciprocator type biotribotester. It was found that there is an optimum number and arrangement of the tubes for generating high frictional force. Experimental results showed that a nine-tube foot had the highest initial friction coefficient of about 1.5. The major frictional mechanism was determined to be interlocking between the tubes and the surface structures of the intestine specimen. The results of this work will aid the optimum design of frictional surface for medical microrobots and other biological devices.