Minimally invasive instrument for robotic surgery including a functional element, a force, torque and/or pressure transmission device for transmitting force, torque and/or pressure from a drive to the functional element, a coupling device for coupling the instrument to a medical robot such that the functional element can be actuated by the drive, wherein an operating element for manually operating the functional element in a state in which the instrument is uncoupled from the medical robot

Minimally invasive instrument for robotic surgery

The use of laparoscopic and robotic procedures has increased in general surgery. Minimally invasive robotic surgery has made tremendous progress in a relatively short period of time, realizing improvements for both the patient and surgeon. This has led to an increase in the use and development of robotic devices and platforms for general surgery. The purpose of this review is to explore current and emerging surgical robotic technologies in a growing and dynamic environment of research and development. This review explores medical and surgical robotic endoscopic surgery and peripheral technologies currently available or in development. The devices discussed here are specific to general surgery, including laparoscopy, colonoscopy, esophagogastroduodenoscopy, and thoracoscopy. Benefits and limitations of each technology were identified and applicable future directions were described. A number of FDA-approved devices and platforms for robotic surgery were reviewed, including the da Vinci Surgical System, Sensei X Robotic Catheter System, FreeHand 1.2, invendoscopy E200 system, Flex® Robotic System, Senhance, ARES, the Single-Port Instrument Delivery Extended Research (SPIDER), and the NeoGuide Colonoscope. Additionally, platforms were reviewed which have not yet obtained FDA approval including MiroSurge, ViaCath System, SPORT™ Surgical System, SurgiBot, Versius Robotic System, Master and Slave Transluminal Endoscopic Robot, Verb Surgical, Miniature In Vivo Robot, and the Einstein Surgical Robot. The use and demand for robotic medical and surgical platforms is increasing and new technologies are continually being developed. New technologies are increasingly implemented to improve on the capabilities of previously established systems. Future studies are needed to further evaluate the strengths and weaknesses of each robotic surgical device and platform in the operating suite.

Review of emerging surgical robotic technology

Over the past two decades, synergistic innovations in imaging technology have resulted in a revolution in which a range of biomedical applications are now benefiting from fluorescence imaging. Specifically, advances in fluorophore chemistry and imaging hardware, and the identification of targetable biomarkers have now positioned intraoperative fluorescence as a highly specific real-time detection modality for surgeons in oncology. In particular, the deeper tissue penetration and limited autofluorescence of near-infrared (NIR) fluorescence imaging improves the translational potential of this modality over visible-light fluorescence imaging. Rapid developments in fluorophores with improved characteristics, detection instrumentation, and targeting strategies led to the clinical testing in the early 2010s of the first targeted NIR fluorophores for intraoperative cancer detection. The foundations for the advances that underline this technology continue to be nurtured by the multidisciplinary collaboration of chemists, biologists, engineers, and clinicians. In this Review, we highlight the latest developments in NIR fluorophores, cancer-targeting strategies, and detection instrumentation for intraoperative cancer detection, and consider the unique challenges associated with their effective application in clinical settings.

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Beyond the margins: real-time detection of cancer using targeted fluorophores.

An electromechanical robotic arm is provided having a distal end with a tool engaging member configured to mate with an electromechanical tool and a trocar holding member configured to mate with a trocar. The trocar holding member can have at least one engagement mechanism configured to engage and orient a trocar to mate the trocar to the trocar holding member in a desired orientation.

Robotics tool exchange

First used medically in 1985, robots now make an impact in laparoscopy, neurosurgery, orthopedic surgery, emergency response, and various other medical disciplines. This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent research projects. By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.

https://downloads.hindawi.com/journals/jr/2012/401613.pdf

Medical Robots: Current Systems and Research Directions

This paper presents the design and control of the sigma.7 haptic device and the new surgical console of the MiroSurge robotic system. The console and the haptic devices are designed with respect to requirements in minimally invasive robotic surgery. Dedicated left and right handed devices are integrated in an operator console in an ergonomic configuration. The height of the whole console is adjustable, allowing the surgeon seated and standed operation. Each of the devices is fully actuated in seven degrees of freedom (DoF). A parallel mechanism with 3 DoF actuates the translational motion and an attached wrist with 3 intersecting axis drives the rotations of the grasping unit. This advantageous design leads to inherently decoupled kinematics and dynamics. Cartesian forces are 20 N within the translational workspace, which is a sphere of about 120 mm diameter for each device. The rotational wrist of the device covers the whole workspace of the human hand and provides maximum torques of about 0.4 Nm. The grasping unit can display forces up to 8 N. An integrated force/torque sensor is used to increase the transparency of the devices by reducing inertia and friction. It is theoretically shown that the non-linear closed loop system behaves like a passive system and experimental results validate the approach. The sigma.7 haptic devices are designed by Force Dimension in cooperation with the German Aerospace Center (DLR). DLR designed the surgical console and integrated the haptic devices in the MiroSurge system.

/pdf/the-sigma-7-haptic-interface-for-mirosurge-a-new-bi-manual-20sd06o5s5.pdf

The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console

Robotic surgery systems are highly complex and expensive pieces of equipment. Demands for lower cost of care can be met if these systems are employable in a flexible manner for a large variety of procedures. To protect the initial investment the capabilities of a robotic system need to be expandable as new tasks arise.

/pdf/mica-a-new-generation-of-versatile-instruments-in-robotic-2pqxqbhit9.pdf

MICA - A new generation of versatile instruments in robotic surgery

A surgical manipulation instrument which is particularly suitable for minimal invasive surgery, comprising an extra-corporeal drive device and a partial intra-corporeal manipulator part. The drive device comprises several axially displaceable first actuation elements. The first actuation elements are detachably connected to axially displaceable second actuation elements, by a coupling device, the second actuation elements being used to actuate an end effector. The coupling device comprises two coupling elements, one of the coupling elements having undercut recesses in which the second coupling element engages.

Surgical manipulation instrument

Minimally invasive surgery (as previously discussed) is an operation technique advantageous for patients. However, surgeons have to contend with a number of disadvantages. With the development and commissioning of a robot supported, prototypic minimally invasive robotic surgery (MIRS) instrument the intracorporal manipulability as well as surgeon's immersion will be enhanced. This paper will give an outline of the endoscopic instrument consisting of 3 DoF actuation unit, 2 DoF joint, 7 DoF Force/Torque sensor, and functional end.

Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback

Minimally invasive instrument for robotic surgery, with a functional element (12), a force, torque and / or pressure transmission device (14) for transmitting force, torque and / or pressure of a drive for the functional element (12), a coupling device (16 ) (for coupling of the instrument 10) to a medical robot, such that the functional element (12) is operable by the drive, characterized by an operating element (18) for manual operation of the functional element (12) in a state in which the instrument (10) is decoupled from the medical robot.

Sophie Thielmann

Papers

The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console

MICA - A new generation of versatile instruments in robotic surgery

Surgical manipulation instrument

Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback

Minimally invasive robotic surgery instrument for