Evaluation of a Telerobotic System to Assist Surgeons in Microsurgery
Open accessAbstract
A tool was developed that assists surgeons in manipulating surgical instruments more precisely than is possible manually. The tool is a telemanipulator that scales down the surgeon's hand motion and filters tremor in the motion. The signals measured from the surgeon's hand are transformed and used to drive a six-degrees-of-freedom robot to position the surgical instrument mounted on its tip. A pilot study comparing the performance of the telemanipulator system against manual instrument positioning was conducted at the University of Southern California School of Medicine. The results show that a telerobotic tool can improve the performance of a microsurgeon by increasing the precision with which he can position surgical instruments, but this is achieved at the cost of increased time in performing the task. We believe that this technology will extend the capabilities of microsurgeons and allow more surgeons to perform highly skilled procedures currently performed only by the best surgeons. It will also enable performance of new surgical procedures that are beyond the capabilities of even the most skilled surgeons.
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Inaccuracy in microsurgery has long been a concern.
“I NACCURACY in microsurgery has long been a concern [1].”
From Toward active tremor canceling in handheld microsurgical instruments (2003) · cites this paper as [1]
Cites
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- Authors
- Das, H., Zak, H., Johnson, J., Crouch, J., & Frambach, D.
- Affiliations
- California Institute of Technology (US)
- Jet Propulsion Laboratory (US)
- University of Southern California (US)
- Corresponding author
- Das, Hari
- ORCID
- Das, Hari
- Venue
- Computer Aided Surgery
- Publisher
- Informa UK Limited
- Published
- 1999-01
- Volume
- 4
- Issue
- 1
- Pages
- 15-25
- ISSN
- 1092-9088 (ISSN-L)
- 1097-0150
- OpenAlex
- W4231034584
- Cited by
- 116
- References
- 1
- Citations by year
- 2024: 2 · 2023: 2 · 2022: 3 · 2021: 1 · 2020: 4 · 2019: 2 · 2018: 2 · 2016: 3 · 2015: 10 · 2014: 8 · 2013: 13 · 2012: 6
- FWCI
- 10.49
- Type
- journal article
- Language
- en
- Open access
- bronze
- doi.org
- Locations
- Computer Aided Surgery (publishedVersion)
- PubMed (publishedVersion)
- Funders
- National Aeronautics and Space Administration
- University of Southern California
- California Institute of Technology
- Cleveland Clinic Foundation
- Jet Propulsion Laboratory
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Health Sciences › Medicine › Surgery › Surgical Simulation and Training
- Life Sciences › Neuroscience › Cognitive Neuroscience › Motor Control and Adaptation
- Keywords
- telesurgery, telemanipulators, microsurgery, surgical instrument positioning, six-degree-of-freedom robot, surgical precision, task completion time
- MeSH terms
- Evaluation Studies as Topic, Humans, Microsurgery, Pilot Projects, Robotics, Surgical Instruments
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