Robotic Surgery and Surgical Simulation

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Robotic Surgery and Surgical Simulation

• Roger Smith, PhD
• roger.smith_at_flhosp.org

Approved for Public Release.
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Robotic Surgery

• Robot-assisted surgery was developed to overcome
  limitations of minimally invasive surgery,
  Instead of directly moving the instruments the
  surgeon uses a computer console to manipulate the
  instruments attached to multiple robot arms. The
  computer translates the surgeons movements,
  which are then carried out on the patient by the
  robot.

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Early Robotic Surgical Systems
AESOP Automated Endoscopic System for Optimal
Positioning
ZEUS Telesurgery Robotic system
http//www.websurg.com/robotics/history.php
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da Vinci Surgical Robot
Intuitive Surgical Inc. http//www.intuitivesurgic
al.com/index.aspx
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Essential Robotic Components
Stereo Vision
Stereo Mag Endoscope
7-DOF Instrument
Ergonomic Station
Diverse, Small Instruments
Fine Control
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Intuitive Surgicals da Vinci Robot
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Worlds First Robotic Telesurgery

• September 2001 Tele- chole (gall bladder
  removal)
• Surgeon in New York, Patient in France
• Round trip distance 8,700 miles
• Round trip data time 200 ms
• Collaborators Prof Jacques Marescaux, New York
  European Institute of Telesurgery, Strasbourg
• http//news.bbc.co.uk/2/hi/science/nature/1552211.
  stm

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Modeling the World
Fluid Dynamics water, air flow
Hard Objects tanks, helos, ships
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Unique Surgical Simulation Challenges

• Geometry
• Complex
• Non-linear
• Non-uniform

• Appearance
• Layered
• Translucent
• Dense

• Dynamics
• Nerve movement
• Blood flow
• Elasticity

Center for Research in Education and Simulation
Technologies, Rob Sweet, MD
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Robotic Surgical Simulator

• Stand-alone surgical simulator
• No consumables or disposables required
• Allows performance analysis and measurement
• User does not require monitoring
• New surgical procedure modules can be added
• Does not require an operating room environment
  and can be set up in a location most advantageous
  to access and training needs
• Monitor allows a user or tutor to observe the
  procedure
• Comprehensive curriculum to train for motor, and
  cognitive skills

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RoSS
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MIMIC dV-trainer
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MIMIC dV Trainer
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MIMIC Thread the Rings
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Components of a Surgical Simulator (Harders, 2008)
Model Generation
Clinical Expertise
Vascular Structures
Bleeding Simulation
Tissue Parameters
Tissue Cutting
Organ Texturing
Tissue Deformation
Haptic Interface
Collision Detection
Immersive OR
Fluid Simulation
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Come Use the da Vinci Robot
Intuitive Surgical and Florida Hospital bave
brought a da Vinci robot to the I/ITSEC show
floor Visit the National Center for Simulation
Booth 913
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Presentation Available
Slides at http//www.modelbenders.com/papers
Videos at Da Vinci Overview http//www.youtube.c
om/watch?vozyv3x1ivts Ross Simulator http//www.
youtube.com/watch?vbICtjMCeXmQ MIMIC
Simulator http//www.mimic.ws/resources