Journal ArticleDOI
Medical robotics in computer-integrated surgery
Russell H. Taylor,Dan Stoianovici +1 more
- Vol. 19, Iss: 5, pp 765-781
TLDR
A broad overview of medical robot systems used in surgery, including basic concepts of computer-integrated surgery, surgical CAD/CAM, and surgical assistants, and some of the major design issues particular to medical robots is provided.Abstract:
This paper provides a broad overview of medical robot systems used in surgery. After introducing basic concepts of computer-integrated surgery, surgical CAD/CAM, and surgical assistants, it discusses some of the major design issues particular to medical robots. It then illustrates these issues and the broader themes introduced earlier with examples of current surgical CAD/CAM and surgical assistant systems. Finally, it provides a brief synopsis of current research challenges and closes with a few thoughts on the research/industry/clinician teamwork that is essential for progress in the field.read more
Citations
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Journal ArticleDOI
Microrobots for Minimally Invasive Medicine
TL;DR: The aim of this review is to provide a comprehensive survey of the technological state of the art in medical microrobots, to explore the potential impact of medical micRORobots and inspire future research in this field.
Journal ArticleDOI
Needle insertion into soft tissue: a survey.
TL;DR: A survey of the current state of research on needle insertion in soft tissue is presented, e.g. modeling needle insertion forces, modeling tissue deformation and needle deflection during insertion, robot-assisted needle insertion, and the effect of different trajectories on tissueDeformation.
Journal ArticleDOI
Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat
TL;DR: Experimental results validate the ability of the newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat through experiments of suturing and knot tying in confined spaces.
Journal ArticleDOI
Deep learning in medical image registration: a survey
TL;DR: This survey outlines the evolution of deep learning-based medical image registration in the context of both research challenges and relevant innovations in the past few years and highlights future research directions to show how this field may be possibly moved forward to the next level.
Proceedings ArticleDOI
A dexterous system for laryngeal surgery
TL;DR: A novel high DoF (degrees-of-freedom) system being developed for minimally invasive surgery of the throat to allow remote operation of 2-3 tools with high tip dexterity to enable suturing and soft-tissue manipulation while using the patient's mouth as the only entry port.
References
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Paul J. Besl,H.D. McKay +1 more
TL;DR: In this paper, the authors describe a general-purpose representation-independent method for the accurate and computationally efficient registration of 3D shapes including free-form curves and surfaces, based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point.
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Flexible transgastric peritoneoscopy: a novel approach to diagnostic and therapeutic interventions in the peritoneal cavity.
Anthony N. Kalloo,Vikesh K. Singh,Sanjay B. Jagannath,Hideaki Niiyama,Susan L. Hill,Cheryl A. Vaughn,Carolyn A. Magee,Sergey V. Kantsevoy +7 more
TL;DR: The peroral transgastric approach to peritoneal cavity technically is feasible and has the potential to be an alternative to laparoscopy and laparotomy.
Journal ArticleDOI
A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery
TL;DR: The use of a Unimation Puma 200 robot, properly interfaced with a computerized tomographic (CT) scanner and with a probe guide mounted at its end effector for CT-guided brain tumor biopsis is discussed, resulting in a procedure faster than one using a manually adjustable frame.
Proceedings ArticleDOI
The Intuitive/sup TM/ telesurgery system: overview and application
G.S. Guthart,J.K. Salisbury +1 more
TL;DR: daVinci/sup TM/, a surgical telerobot designed to provide enhanced dexterity to doctors performing minimally invasive surgical procedures is described, along with a discussion of the resulting computational architecture and recent clinical applications.
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