Autonomous 3-d positioning of surgical instruments in robotized laparoscopic surgery using visual servoing

2003 ◽  
Vol 19 (5) ◽  
pp. 842-853 ◽  
Author(s):  
A. Krupa ◽  
J. Gangloff ◽  
C. Doignon ◽  
M.F. de Mathelin ◽  
G. Morel ◽  
...  
Keyword(s):  
Laparoscopic Surgery ◽  
Visual Servoing ◽  
Surgical Instruments

scholarly journals Automatic positioning of surgical instruments during laparoscopic surgery with robots using automatic visual feedback

2002 ◽  
Vol 12 ◽  
pp. 75-83
Author(s):  
A. Krupa ◽  
M. de Mathelin ◽  
C. Doignon ◽  
J. Gangloff ◽  
G. Morel ◽  
...  
Keyword(s):  
Laparoscopic Surgery ◽  
Visual Feedback ◽  
Surgical Instruments ◽  
Automatic Positioning

scholarly journals Laparoscopic Distal Pancreatectomy with or without Preservation of the Spleen for Solid Pseudopapillary Neoplasm

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Tomohide Hori ◽  
Toshihiko Masui ◽  
Toshimi Kaido ◽  
Kohei Ogawa ◽  
Kentaro Yasuchika ◽  
...  
Keyword(s):  
Laparoscopic Surgery ◽  
Distal Pancreatectomy ◽  
Surgical Simulation ◽  
Laparoscopic Approach ◽  
Preoperative Assessment ◽  
Laparoscopic Distal Pancreatectomy ◽  
Surgical Instruments ◽  
Safe Procedure ◽  
Splenic Preservation ◽  
Solid Pseudopapillary Neoplasm

Solid pseudopapillary neoplasm (SPN) is a rare tumor of the pancreas. Laparoscopic distal pancreatectomy (DP) is a feasible and safe procedure, and successful spleen preservation rates are higher using a laparoscopic approach. We hypothesized that certain patients with SPN would be good candidates for laparoscopic surgery; however, few surgeons have reported laparoscopic DP for SPN. We discuss the preoperative assessment and surgical simulation for two SPN cases. A simulation was designed because we consider that a thorough preoperative understanding of the procedure based on three-dimensional image analysis is important for successful laparoscopic DP. We also discuss the details of the actual laparoscopic DP with or without splenic preservation that we performed for our two SPN cases. It is critical to use appropriate instruments at appropriate points in the procedure; surgical instruments are numerous and varied, and surgeons should maximize the use of each instrument. Finally, we discuss the key techniques and surgical pitfalls in laparoscopic DP with or without splenic preservation. We conclude that experience alone is inadequate for successful laparoscopic surgery.

scholarly journals Concept of application of the light-weight robot Robin Heart (“Pelikan”) in veterinary medicine: a feasibility study

2017 ◽  
Vol 73 (2) ◽  
pp. 88-91 ◽  
Author(s):  
Krzysztof Lis ◽  
Krzysztof Lehrich ◽  
Łukasz Mucha ◽  
Zbigniew Nawrat
Keyword(s):  
Veterinary Medicine ◽  
Minimally Invasive Surgery ◽  
Laparoscopic Surgery ◽  
Animal Experiments ◽  
Surgical Instruments ◽  
Light Weight ◽  
Review Of Literature ◽  
Medical Robots ◽  
Position And Orientation ◽  
Special Instrumentation

Currently, there is a great interest in the use of minimally invasive surgery methods. Such surgeries require special instrumentation. Doctors increasingly use medical robots that replace assistants responsible for setting the position and orientation of the endoscope (vision), as well as make it possible to control surgical instruments. One of very promising fields of expansion of this technology is veterinary medicine. This article presents a review of literature on animal laparoscopic surgery with the use of medical robots. Particular attention was paid to animal experiments involving the Robin Heart family robots. Moreover, the article presents the construction and principle of operation of the smallest manipulator of the Robin Heart family, as well as describes preliminary simulations of surgery with the use of this robot. In the conclusion, possible directions for further improvement and implementation of the Robin Heart robot have been formulated.

Design and Evaluation of a Portable Laparoscopic Training System Using Virtual Reality

2016 ◽  
Vol 11 (1) ◽  
Author(s):  
Mohsen Zahiri ◽  
Ryan Booton ◽  
Ka-Chun Siu ◽  
Carl A. Nelson
Keyword(s):  
Image Processing ◽  
Virtual Reality ◽  
Laparoscopic Surgery ◽  
Muscle Activity ◽  
Completion Time ◽  
Training System ◽  
Surgical Instruments ◽  
Task Completion ◽  
P Value ◽  
Training Time

The ubiquitous nature of laparoscopic surgery and the decreased training time available for surgeons are driving an increased need for effective training systems to help surgeons learn different procedures. A cost-effective and user-friendly simulator has been designed to imitate specific training tasks for laparoscopic surgery in virtual environments via image processing and computer vision. The capability of using various actual surgical instruments suited for these specific procedures gives heightened fidelity to the simulator. Image processing via matlab software provides real-time mapping of the graspers in the workspace to the virtual reality (VR) environment (vizard software). Two different tasks (peg transfer and needle passing) were designed to evaluate trainees and compare their performance with characteristics of expert surgeons. Pilot testing of the system was carried out with 11 subjects to validate the similarity of this device with an existing surgical box trainer. Task completion time and muscle activity have been used as metrics for evaluation. The decrease in completion time for all subjects suggests similarity of skills transfer for both simulators. In addition, the p-value of muscle activity showed no significant differences for most muscles in the peg transfer task when using either the VR or physical analog environment and no significant differences for about half of the muscles in the needle passing task. Based on the results, the new proposed VR simulator appears to be a viable alternative to help trainees gain laparoscopic skills.

Sign in / Sign up

Export Citation Format

Share Document