The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery
13 Oct 1998-Vol. 2, pp 936-944
TL;DR: The Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS) is presented and suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments is demonstrated.
Abstract: This paper presents the Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS). We show how teleoperation can address several key problems in MIS by increasing dexterity and degrees of freedom, by giving the surgeon some force feedback to feel instrument-tissue interactions and by eliminating geometric discrepancies between actual and observed tool motions. We discuss relevant design constraints, summarize the mechanism design and give data showing the quality of force reflection achieved. We demonstrate suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments.
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TL;DR: This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications.
1,584 citations
Patent•
18 Apr 2002TL;DR: In this paper, an elongate shaft with an ultrasound probe, an end effector at the distal end of the shaft, and a base at the proximal end of a shaft is presented.
Abstract: A surgical instrument for enhancing robotic surgery generally includes an elongate shaft with an ultrasound probe, an end effector at the distal end of the shaft, and a base at the proximal end of the shaft. The end effector includes an ultrasound probe tip and the surgical instrument is generally configured for convenient positioning of the probe tip within a surgical site by a robotic surgical system. Ultrasound energy delivered by the probe tip may be used to cut, cauterize, or achieve various other desired effects on tissue at a surgical site. In various embodiments, the end effector also includes a gripper, for gripping tissue in cooperation with the ultrasound probe tip. The base is generally configured to removably couple the surgical instrument to a robotic surgical system and to transmit forces from the surgical system to the end effector, through the elongate shaft. A method for enhancing robotic surgery generally includes coupling the surgical instrument to a robotic surgical system, positioning the probe tip in contact with tissue at a surgical site, and delivering ultrasound energy to the tissue.
1,438 citations
Patent•
TL;DR: In this article, the authors propose a memory mounted on the tool that can provide a signal verifying that the tool is compatible with a particular robotic system, and the tool memory may identify the tool type to the robotic system so that the system can reconfigure its programming.
Abstract: Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
1,364 citations
Patent•
06 Dec 1999TL;DR: In this paper, the authors proposed an engagement structure for coupling robotic surgical tools with manipulator structures, which can be stored in a read only memory (ROM) or in a nonvolatile memory (NVR).
Abstract: Robotic surgical tools, systems, and methods for preparing for, and performing robotic surgery include a memory (126) mounted on the tool (54). The memory (126) can perform a number of functions when the tool (54) is loaded on the tool manipulator (58). First, the memory can provide a signal verifying that the tool (54) is compatible with that particular robotic system. Secondly, the tool memory (126) may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory (126) of the tool (54) may indicate tool specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
1,319 citations
Patent•
TL;DR: In this article, the authors present robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other.
Abstract: The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
1,266 citations
References
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Proceedings Article•
01 Jan 1994
TL;DR: The design rationale, novel kinematics and mechanics of the PHANToM, a device which measures a user’s finger tip position and exerts a precisely controlled force vector on the finger tip, are discussed.
Abstract: 1. Abstract This paper describes the PHANToM haptic interface - a device which measures a user’s finger tip position and exerts a precisely controlled force vector on the finger tip. The device has enabled users to interact with and feel a wide variety of virtual objects and will be used for control of remote manipulators. This paper discusses the design rationale, novel kinematics and mechanics of the PHANToM. A brief description of the programming of basic shape elements and contact interactions is also given.
1,572 citations
"The Black Falcon: a teleoperated su..." refers methods in this paper
...We used a modified version of the PHANToM h a p tic interface as our master (Sensable Technologies, Cambridge, MA), (Massie and Salisbury, 1994), see Figure 7....
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TL;DR: A new generation of "intelligent" surgical systems that can work cooperatively with a human surgeon to off-load routine tasks, reduce the number of people needed in the operating room, and provide new capabilities that complement the surgeon's own skills are developed.
Abstract: The goal of the work described is to develop a new generation of "intelligent" surgical systems that can work cooperatively with a human surgeon to off-load routine tasks, reduce the number of people needed in the operating room, and provide new capabilities that complement the surgeon's own skills. An underlying premise of this work is that machine capabilities coupled with human judgement can accomplish many tasks better than either could do alone. A further premise is that such a partnership is synergistic with present trends toward geometrically precise, image guided, and minimally invasive therapies. The net result will be better clinical results, lower net costs through shorter hospital stays and recovery times, and reducing the chances for repeated surgery. >
494 citations
30 Oct 1997
TL;DR: Three projects to evaluate and improve the human interface in laparoscopic surgery, or minimally invasive surgery of the abdomen, are described: measurement of movement trajectories under different visual conditions to determine the effect of viewing geometry, development of virtual environments for training, and the development of haptic interfaces and control algorithms for teleoperative surgery.
Abstract: Increasing numbers of surgical procedures are performed using minimally invasive techniques, in which trauma to external tissue is minimized. Unfortunately, reduced access reduces dexterity, limits perception, increases strain and the likelihood of error, and lengthens procedure time. Surgical technology must improve the interface between task requirements and human abilities. This paper describes three projects to evaluate and improve the human interface in laparoscopic surgery, or minimally invasive surgery of the abdomen: (a) measurement of movement trajectories under different visual conditions to determine the effect of viewing geometry, (b) the development of virtual environments for training, and (c) the development of haptic interfaces and control algorithms for teleoperative surgery.
121 citations
"The Black Falcon: a teleoperated su..." refers methods in this paper
...At Berkeley, (Cohn et al., 1995) and ( Tendick and Cavusoglu, 1997 ) discuss a slave which uses a modified Impulse Engine 3000 (Immersion Technologies, Santa Clara, CA) as a master....
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08 May 1994
TL;DR: A telepresence system with integrated 3D stereo viewing, a prototype force-reflecting manipulator, and aural feedback that eliminates the motion reversal, or fulcrum effect, in operating through the abdominal wall is developed.
Abstract: Endoscopic surgical methods are replacing open surgery in many procedures, but dexterity and force feedback are not adequate with current tools. To enhance the ability of surgeons to operate endoscopically, we have developed a telepresence system with integrated 3D stereo viewing, a prototype force-reflecting manipulator, and aural feedback. Careful attention was paid to the human factors in the endoscopic surgery setting to make the system natural to use in the hope of eliminating the long training period normally required. The 4-axis (plus gripper) manipulator provides the same degrees of freedom as the laproscopic tools now being used for surgery. The bilateral control system provides for magnified motion and/or force reflection. This approach eliminates the motion reversal, or fulcrum effect, in operating through the abdominal wall. Preliminary dexterity experiments with different force feedback and viewing conditions verify intuitive use and fast learning. >
119 citations
"The Black Falcon: a teleoperated su..." refers methods in this paper
...This system uses two 5 degree-of-freedom (dof) slave arms (3 position, 1 orientation, and grip) controlled using kinematically identical master arms, ( Hill et al., 1994 )....
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TL;DR: The use of robotic enhancement technology leads to an efficient performance of sutured coronary artery bypass anastomoses in a plastic model that enhances dexterity, precision, and reduces surgeon's fatigue while preserving the quality of hand suturing.
Abstract: Objectives: Endoscopically sutured vascular anastomoses are complex, time consuming, and require great dexterity. We decided to evaluate performance enhancement using a robotic device to create sutured coronary artery bypass anastomoses with endoscopic techniques in a plastic model. Methods: Seven coronary artery bypass anastomoses were endoscopically created in a plastic model using a robotic enhancement technology (Computer Motion, Goleta, CA). Anastomoses were created with a single running suture (7-0 monofilament). Our endpoints were operative time, intraoperative incidents, stability and dexterity of the robotic system, surgeon's fatigue, and anastomotic patency. Results: Operative time was 46 ± 12 min (mean ± SD). There were no intraoperative incidents. Patency was confirmed in all anastomoses. The system's stability and dexterity were high. Surgeon's fatigue was mild. Conclusion: The use of robotic enhancement technology leads to an efficient performance of sutured coronary artery bypass a...
91 citations