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Medical Robotics and Computer-Integrated Surgery

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Springer Handbook of Robotics

Abstract

The growth of medical robotics since the mid-1980s has been striking. From a few initial efforts in stereotactic brain surgery, orthopaedics, endoscopic surgery, microsurgery, and other areas, the field has expanded to include commercially marketed, clinically deployed systems, and a robust and exponentially expanding research community. This chapter will discuss some major themes and illustrate them with examples from current and past research. Further reading providing a more comprehensive review of this rapidly expanding field is suggested in Sect. 52.4.

Medical robots may be classified in many ways: by manipulator design (e.g., kinematics, actuation); by level of autonomy (e.g., preprogrammed versus teleoperation versus constrained cooperative control), by targeted anatomy or technique (e.g., cardiac, intravascular, percutaneous, laparoscopic, microsurgical); or intended operating environment (e.g., in-scanner, conventional operating room). In this chapter, we have chosen to focus on the role of medical robots within the context of larger computer-integrated systems including presurgical planning, intraoperative execution, and postoperative assessment and follow-up.

First, we introduce basic concepts of computer-integrated surgery, discuss critical factors affecting the eventual deployment and acceptance of medical robots, and introduce the basic system paradigms of surgical computer-assisted planning, registration, execution, monitoring, and assessment (CAD/CAM) and surgical assistance. In subsequent sections, we provide an overview of the technology of medical robot systems and discuss examples of our basic system paradigms, with brief additional discussion topics of remote telesurgery and robotic surgical simulators. We conclude with some thoughts on future research directions and provide suggested further reading.

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Abbreviations

CAD:

computer-aided design

CAM:

computer-aided manufacturing

CIS:

computer-integrated surgery

CT:

computed tomography

DOF:

degree of freedom

GI:

gastrointestinal

IEEE:

Institute of Electrical and Electronics Engineers

JHU:

Johns Hopkins University

MEMS:

microelectromechanical systems

MIS:

minimally invasive surgery

MRI:

magnetic resonance imaging

PC:

Purkinje cells

PC:

principal contact

PET:

positron emission tomography

RAS:

Robotics and Automation Society

RCM:

remote center of motion

SMA:

shape-memory alloy

US:

ultrasound

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Authors and Affiliations

  1. Department of Computer Science, The Johns Hopkins University, Computational Science and Engineering Building 1-127, 3400 North Charles Street, 21218, Baltimore, MD, USA

    Russell H. Taylor Prof

  2. CRIM Lab, Scuola Superiore SantʼAnna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy

    Arianna Menciassi Prof

  3. School of Computing, Queenʼs University, # 725 Goodwin Hall, 25 Union St., K7L 3N6, Kingston, ON, Canada

    Gabor Fichtinger Dr.

  4. ARTS Lab e CRIM Lab, Scuola Superiore SantʼAnna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy

    Paolo Dario Prof

Authors
  1. Russell H. Taylor Prof
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  2. Arianna Menciassi Prof
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  3. Gabor Fichtinger Dr.
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  4. Paolo Dario Prof
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Corresponding authors

Correspondence to Russell H. Taylor Prof , Arianna Menciassi Prof , Gabor Fichtinger Dr. or Paolo Dario Prof .

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Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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© 2008 Springer-Verlag

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Taylor, R.H., Menciassi, A., Fichtinger, G., Dario, P. (2008). Medical Robotics and Computer-Integrated Surgery. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_53

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_53

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

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