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Springer Handbook of Robotics pp 1657–1684Cite as

Medical Robotics and Computer-Integrated Surgery

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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. 63.4.

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, execution, monitoring, and assessment (surgical GlossaryTerm

CAD

/GlossaryTerm

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

2-D:

two-dimensional

3-D:

three-dimensional

CAD:

computer-aided design

CAM:

computer-aided manufacturing

CIS:

computer-integrated surgery

CMOS:

complementary metal-oxide-semiconductor

CT:

computed tomography

DC:

direct current

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

GI:

gastrointestinal

GPU:

graphics processing unit

HMCS:

human–machine cooperative system

JHU:

Johns Hopkins University

JPL:

Jet Propulsion Laboratory

LED:

light-emitting diode

MEMS:

microelectromechanical system

MIS:

minimally invasive surgery

MRI:

magnetic resonance imaging

NOTES:

natural orifice transluminal surgery

OCT:

optical coherence tomography

OR:

operating room

PC:

personal computer

PET:

positron emission tomography

RAMS:

random access memory system

RCM:

remote center of motion

SMA:

shape memory alloy

SPL:

single port laparoscopy

THR:

total hip replacement

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Author information

Authors and Affiliations

  1. Department of Computer Science, The Johns Hopkins University, 3400 North Charles Street, MD 21218, Baltimore, USA

    Russell H. Taylor

  2. The BioRobotics Institute, Sant’Anna School of Advanced Studies, Piazza Martiri della Libertà 34, 56127, Pisa, Italy

    Arianna Menciassi

  3. School of Computing, Queen’s University, 25 Union Street, ON, K7L 2N8, Kingston, Canada

    Gabor Fichtinger

  4. Department of Computer Science, University of Verona, Strada le Grazie 15, 37134, Verona, Italy

    Paolo Fiorini

  5. The BioRobotics Institute, Sant’Anna School of Advanced Studies, Piazza Martiri della Libertà 34, 56127, Pisa, Italy

    Paolo Dario

Authors
  1. Russell H. Taylor
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  2. Arianna Menciassi
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  3. Gabor Fichtinger
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  4. Paolo Fiorini
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  5. Paolo Dario
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Corresponding author

Correspondence to Russell H. Taylor .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

:

Da Vinci Surgery on a grape available from http://handbookofrobotics.org/view-chapter/63/videodetails/823

:

Da Vinci Xi introduction | Engadget available from http://handbookofrobotics.org/view-chapter/63/videodetails/824

:

Intuitive surgical Da Vinci single port robotic system available from http://handbookofrobotics.org/view-chapter/63/videodetails/825

:

SPORT system by Titan Medical available from http://handbookofrobotics.org/view-chapter/63/videodetails/826

:

Robot for single port surgery by Nebraska University available from http://handbookofrobotics.org/view-chapter/63/videodetails/827

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Magnetic and needlescopic instruments for surgical procedures available from http://handbookofrobotics.org/view-chapter/63/videodetails/828

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CardioArm available from http://handbookofrobotics.org/view-chapter/63/videodetails/829

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Snake robot for surgery in tight spaces available from http://handbookofrobotics.org/view-chapter/63/videodetails/830

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IREP robot – Insertable robotic effectors in single port surgery available from http://handbookofrobotics.org/view-chapter/63/videodetails/831

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Variable stiffness manipulator based on layer jamming available from http://handbookofrobotics.org/view-chapter/63/videodetails/832

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Reconfigurable and modular robot for NOTES applications available from http://handbookofrobotics.org/view-chapter/63/videodetails/833

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SPRINT robot for single port surgery available from http://handbookofrobotics.org/view-chapter/63/videodetails/834

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A micro-robot operating inside eye available from http://handbookofrobotics.org/view-chapter/63/videodetails/835

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Taylor, R.H., Menciassi, A., Fichtinger, G., Fiorini, P., Dario, P. (2016). Medical Robotics and Computer-Integrated Surgery. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_63

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_63

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32550-7

  • Online ISBN: 978-3-319-32552-1

  • eBook Packages: EngineeringEngineering (R0)

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