advances in telesurgery and surgical robotics dr s. sanyal
TRANSCRIPT
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Advances in Telesurgery Advances in Telesurgery and Surgical Roboticsand Surgical Robotics
Dr S. SanyalDr S. Sanyal
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World’s first telesurgeryWorld’s first telesurgery September 2001September 2001: Tele- chole: Tele- chole
Prof Jacques MarescauxProf Jacques Marescaux, , New York & European Institute New York & European Institute of Telesurgery, Strasbourgof Telesurgery, Strasbourg
Round distanceRound distance =14,000 km=14,000 km
RTTRTT = 200 msec ; video and = 200 msec ; video and hi-speed fibre-optic linkhi-speed fibre-optic link
June 2001June 2001: Johns Hopkins : Johns Hopkins University, Baltimore & Rome University, Baltimore & Rome Policlinico Casilino UniversityPoliclinico Casilino University
http://news.bbc.co.uk/2/hi/science/natuhttp://news.bbc.co.uk/2/hi/science/nature/1552211.stmre/1552211.stm
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The research pioneers The research pioneers SRI @ Stanford U School of MedicineSRI @ Stanford U School of Medicine HMSL @ MITHMSL @ MIT IMRL @ UC Berkeley and UCSFIMRL @ UC Berkeley and UCSF
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BackgroundBackground
Traditional surgeryTraditional surgery Tri-dimensionalTri-dimensional Cognitive inputCognitive input Tactile feedbackTactile feedback Stereoscopic vision Stereoscopic vision
with depth perceptionwith depth perception Time lag -veTime lag -ve
TelesurgeryTelesurgery Two-dimensionalTwo-dimensional Cognitive feedback limitedCognitive feedback limited Tactile feedback –veTactile feedback –ve Binocular vision without Binocular vision without
depth perceptiondepth perception Time lag +veTime lag +ve
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DefinitionsDefinitions Telepresence surgeryTelepresence surgery: : Computerized Computerized
interface @ surgical workstation interface @ surgical workstation ↔↔ remote remote operative site; force feedback (haptic)operative site; force feedback (haptic)
Cooperative telesurgeryCooperative telesurgery: tele-surgeon / : tele-surgeon / local (remote) assistant cooperation local (remote) assistant cooperation
http://www2.telemedtoday.com/articles/telesurgery.shtmlhttp://www2.telemedtoday.com/articles/telesurgery.shtml http://http://web.mit.edu/hmsl/www/Telesurgeryweb.mit.edu/hmsl/www/Telesurgery//
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Definitions – cont’dDefinitions – cont’d
TeleroboticsTelerobotics: Remote control with a : Remote control with a robotic arm, in conjunction with a robotic arm, in conjunction with a laparoscopelaparoscope
http://www2.telemedtoday.com/articles/telesurgery.shtmlhttp://www2.telemedtoday.com/articles/telesurgery.shtml
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Definitions – cont’dDefinitions – cont’d
TelementoringTelementoring: Experienced surgeon : Experienced surgeon acts as tutor / instructor (acts as tutor / instructor (preceptorpreceptor) for ) for remote surgeon via interactive videoremote surgeon via interactive video
TeleproctoringTeleproctoring ( (proctor=supervisor of proctor=supervisor of examsexams): Documentation of performance ): Documentation of performance for privileging purposesfor privileging purposes
http://www2.telemedtoday.com/articles/telesurgery.shtmlhttp://www2.telemedtoday.com/articles/telesurgery.shtml
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Technical aspectsTechnical aspects Image transmissionImage transmission: T1 transmission (H-320 : T1 transmission (H-320
compression standard)compression standard) Fibre-optic cableFibre-optic cable MicrowaveMicrowave SatelliteSatellite
Lag timeLag time: should be : should be << 330 ms 330 ms VOR disruption (3-D vertigo; Simulator sickness within VOR disruption (3-D vertigo; Simulator sickness within
20 minutes)20 minutes) Movement scalingMovement scaling: 1cm : 1cm → 1mm→ 1mm HapticHaptic: Force feedback: Force feedback
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HapticHaptic Force reflection / feedback; Graduated Force reflection / feedback; Graduated
tactile inputtactile input– – resistance at remote site is transmitted to resistance at remote site is transmitted to
near site by servo motors @ both sites near site by servo motors @ both sites
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Robotic vs. human armRobotic vs. human arm
DOFDOF: Number of ways an arm can move: Number of ways an arm can move Human armHuman arm: 7-DOF: 7-DOF Human handHuman hand: >20-DOF: >20-DOF Robotic armRobotic arm: Like human hand, arm and : Like human hand, arm and
moveable elbow - but moveable elbow - but with a fused wristwith a fused wrist Robotic armRobotic arm: 4-6 DOF: 4-6 DOF
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Telesurg dynamics @ MITTelesurg dynamics @ MIT Surgeon’s fingers placed in rings of instruments Surgeon’s fingers placed in rings of instruments Rings are connected to Rings are connected to motorsmotors, , gearsgears and and beltsbelts Precisely translate surgeon’s hand / finger motions Precisely translate surgeon’s hand / finger motions
into digital signalsinto digital signals Transmitted through computer- telecomm linkTransmitted through computer- telecomm link To robotic arms @ remote surgical stationTo robotic arms @ remote surgical station Visual inputVisual input: : 2 remote CCD cameras (15 fps each 2 remote CCD cameras (15 fps each
→ 3-D effect→ 3-D effect) ) → Surgeon’s monitor → Mirror → → Surgeon’s monitor → Mirror → Optical Optical 3-D glasses (stereoscopic vision) 3-D glasses (stereoscopic vision)
http://web.mit.edu/hmsl/www/Telesurgeryhttp://web.mit.edu/hmsl/www/Telesurgery
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Telesurg components @ Telesurg components @ MIT MIT
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Surgeon’s master tool Surgeon’s master tool handle @ MIThandle @ MIT
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Surgeon’s master tool Surgeon’s master tool handle @ MIT handle @ MIT
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Master phantom haptic Master phantom haptic interface arm interface arm
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Slave phantom haptic Slave phantom haptic interface arm interface arm
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Tele-operation slave tool Tele-operation slave tool
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Tele-operation slave tool Tele-operation slave tool
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Tele-operational details – Tele-operational details – Tool Tool
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Tele-operational details – Tele-operational details – Interchangeable tool tips Interchangeable tool tips
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Experimental task - grasp / Experimental task - grasp / transfer transfer
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Experimental task - Grasp Experimental task - Grasp and transfer with and transfer with orientation orientation
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Experimental task - Clip Experimental task - Clip application application
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Experimental task – Experimental task – grasper / gripper and grasper / gripper and shear / scissors shear / scissors
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Lap experiment box @ Lap experiment box @ MITMIT
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Lap simulator-1 @ MITLap simulator-1 @ MIT
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Lap simulator-2 @ MITLap simulator-2 @ MIT
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Dynamics of robotics @ UCDynamics of robotics @ UC SurgeonSurgeon – remote location – TV console – set of – remote location – TV console – set of
handheld controls ~ videogame joystickshandheld controls ~ videogame joysticks JoystickJoystick:: Pencil-sized; 1 for each hand Pencil-sized; 1 for each hand ComputerComputer: Program translates surgeon’s : Program translates surgeon’s
movements movements End-effectorsEnd-effectors: Robotic instruments enter body to : Robotic instruments enter body to
perform actual operationperform actual operation Early modelsEarly models: 3-fingered hand: 3-fingered hand PresentPresent: Hydraulic-powered, single-digit, 3-4” x ½”, 4-: Hydraulic-powered, single-digit, 3-4” x ½”, 4-
jointed (rotate, swivel, to-fro), 2-pronged end grasperjointed (rotate, swivel, to-fro), 2-pronged end grasper
AnthropomorphicAnthropomorphic movements movementshttp://robotics.eecs.berkeley.edu/medical/
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Details of robotsDetails of robots
‘‘Robo-docRobo-doc’: 2 robots working in concert’: 2 robots working in concert Holding robotsHolding robots Companion robots / milli-robots / robotic Companion robots / milli-robots / robotic
manipulatorsmanipulators
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Holding robotsHolding robots
Pair of large robotic arms Pair of large robotic arms Hydraulic-actuatedHydraulic-actuated Sits on moveable platformSits on moveable platform Driven remotely by surgeon’s joysticksDriven remotely by surgeon’s joysticks Performs like a surgeon’s shoulder, Performs like a surgeon’s shoulder,
allowing positioning of its hydraulic armsallowing positioning of its hydraulic arms
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Holding robots – cont’dHolding robots – cont’d
Holds 2Holds 2ndnd robot, wheels instruments robot, wheels instruments into position by patient’s sideinto position by patient’s side
Guides them through dexterity-Guides them through dexterity-requiring surgical procedures requiring surgical procedures (suturing, dissection)(suturing, dissection)
Holds instruments steady while Holds instruments steady while surgeon sutures and ties knotssurgeon sutures and ties knots
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Companion / Milli-robots / Companion / Milli-robots / Robotic manipulatorsRobotic manipulators
Sterile, disposable, steel, mm-scale, Sterile, disposable, steel, mm-scale, fingertip-sized fingertip-sized
Slender, jointed, finger-likeSlender, jointed, finger-like toolstools Connected by wires and tubes to larger Connected by wires and tubes to larger
robotrobot Pair of gripping forceps at one end to Pair of gripping forceps at one end to
carry surgical tools carry surgical tools Contains miniscule video-cameraContains miniscule video-camera
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Companion robot – cont’dCompanion robot – cont’d
Inserted into body for actual surgical Inserted into body for actual surgical tasks (cutting, suturing) – 10-20 mm tasks (cutting, suturing) – 10-20 mm incisionsincisions
Inserts camerasInserts cameras Provide tactile feedback though force-Provide tactile feedback though force-
deflecting joysticksdeflecting joysticks Provides 7 DOFProvides 7 DOF
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Setup @ UC BerkeleySetup @ UC Berkeley
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Equipment @ UCBEquipment @ UCB
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Robotic manipulator @ UCBRobotic manipulator @ UCB
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Mini robot controls @ Mini robot controls @ UCBUCB
Roll-pitch-roll ‘wrist’, gripper and multi-fingered manipulators
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Robotic endo-manipulatorRobotic endo-manipulator
Endo-platform with biopsy forceps
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Minute threadingMinute threading
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Threaded robotic Threaded robotic instruments – knot tyinginstruments – knot tying
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2-G RTWL @ UCSF2-G RTWL @ UCSF
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Lap interface @ UCSFLap interface @ UCSF
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4-DOF lap haptic 4-DOF lap haptic interfaceinterface
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Robotic Cardiac Surgery Robotic Cardiac Surgery @ EHIRC @ EHIRC
da Vinci Tele-manipulationda Vinci Tele-manipulation system system Intuitive Surgical Inc., Mountain View, Intuitive Surgical Inc., Mountain View,
CA, USA CA, USA Computer enhanced system Computer enhanced system
Surgeon’s consoleSurgeon’s console Cart-mounted robotic manipulatorsCart-mounted robotic manipulators
http://www.ehirc.com/individuals/services/treatment/robotic_surgery.html#http://www.ehirc.com/individuals/services/treatment/robotic_surgery.html#
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Surgeon’s console @ EHIRCSurgeon’s console @ EHIRC
Display systemDisplay system: 3-D : 3-D pictures of chest cavitypictures of chest cavity
SurgeonSurgeon sits at sits at console and gets 3-D console and gets 3-D view of chest interior view of chest interior
Hand motions are Hand motions are captured, transformed captured, transformed and transmitted to tiny and transmitted to tiny robotic manipulators robotic manipulators
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Robotic manipulators @ Robotic manipulators @ EHIRCEHIRC
Robot is not autonomous; surgeon-Robot is not autonomous; surgeon-controlled controlled
Hold tiny instruments, which go inside the Hold tiny instruments, which go inside the patient's chest.patient's chest.
Surgeon's hand movements transmitted Surgeon's hand movements transmitted to these instrumentsto these instruments
CABG, mitral valve repair, ASD closure CABG, mitral valve repair, ASD closure
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IMA – LAD CABGIMA – LAD CABG
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Totally endoscopic CABG Totally endoscopic CABG
AdvantagesAdvantages Only 3-incisions, each 1 cm on the side and Only 3-incisions, each 1 cm on the side and
lower chestlower chest Less painLess pain Faster healing and recoveryFaster healing and recovery Short hospital stay Short hospital stay
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Technical innovations Technical innovations
Teletactation (Tactile feedback)Teletactation (Tactile feedback) CyberGloveCyberGlove®® with CyberTouch with CyberTouch Dextrous master gloveDextrous master glove Spatial cognition – Hand assistSpatial cognition – Hand assist Surgical simulationsSurgical simulations Dextrous mini-robotsDextrous mini-robots
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Teletactation –Teletactation –Tactile Tactile feedbackfeedback
Sensing tactile information through Sensing tactile information through tactile tactile sensorssensors that transmit feel of tissue to that transmit feel of tissue to surgeon’s fingersurgeon’s finger
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CyberTouch – CyberTouch – CyberGloveCyberGlove®® Vibro-tactile, thermal simulators on each Vibro-tactile, thermal simulators on each
fingerfinger and and palmpalm Tactile feedback option Tactile feedback option enables feelenables feel of of
virtual object virtual object
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CyberGloveCyberGlove®®
Flexible sensors Flexible sensors measure positionmeasure position / / movementmovement of of fingersfingers and and wristwrist
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Dextrous master gloveDextrous master glove ThumbThumb,, index index, , wrist wrist flexion sensors and flexion sensors and
wrist rotation sensorwrist rotation sensor Senses positionsSenses positions of surgeon's fingers/wrist of surgeon's fingers/wrist Used as master to drive slave robotic hand Used as master to drive slave robotic hand
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Spatial cognition – Hand Spatial cognition – Hand assist in telesurgeryassist in telesurgery
Non-dominant hand in-vivo possibly enhances spatial skills through tactile cues, which generate a more accurate 3-D representation of anatomy
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Lap chole simulationLap chole simulation
Simulated fat and fascia Dissected away; cystic duct clipped
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Lap chole simulation – Lap chole simulation – cont’dcont’d
Cystic artery and duct divided successfully in simulated conditions
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Karlsruhe Gynec endo Karlsruhe Gynec endo surgery simulations surgery simulations
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Gynec surgery Gynec surgery simulations – cont’dsimulations – cont’d
http://www-kismet.iai.fzk.de/VRTRAIN/phD_main.html
http://www-kismet.iai.fzk.de/VRTRAIN/GIF/PHD/surgSim.jpg
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Dextrous mini robotsDextrous mini robots 1 – Camera attachment1 – Camera attachment 2 – Equipped with a needle for biopsy2 – Equipped with a needle for biopsy 3 – Moves around abdominal cavity – spiral 3 – Moves around abdominal cavity – spiral
pattern – moves without slippingpattern – moves without slipping http://news.bbc.co.uk/1/hi/health/4647258.stmhttp://news.bbc.co.uk/1/hi/health/4647258.stm
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SummarySummary
Technically demanding, labour intensive, Technically demanding, labour intensive, time consuming, expensive researchtime consuming, expensive research
Learning curve with similar Learning curve with similar characteristicscharacteristics
Expensive installation, maintenance and Expensive installation, maintenance and infrastructureinfrastructure
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Future applicationsFuture applications
Emergency trauma care – 1Emergency trauma care – 1stst ‘Golden ‘Golden Hour’Hour’
Battlefield surgeryBattlefield surgery Remote area assistanceRemote area assistance One-to-many telementoringOne-to-many telementoring Space station surgerySpace station surgery
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Pre-conclusionPre-conclusion
““Science knows no country, because Science knows no country, because knowledge belongs to humanity, and knowledge belongs to humanity, and is the torch which illuminates the is the torch which illuminates the worldworld.”.” Louis Louis PasteurPasteur
““Don't be afraid to take a big step. You Don't be afraid to take a big step. You can't cross a chasm in two small can't cross a chasm in two small jumpsjumps.”.”
David David Lloyd GeorgeLloyd George
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ConclusionConclusion