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Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
[article]
2020
arXiv
pre-print
Preserved Fulltext
In this study, we explore the potential of depth sensing for efficient and reliable automation of surgical subtasks. ...
We use calibration techniques that allow the imprecise, cable-driven da Vinci to reduce error from 4-5 mm to 1-2 mm in the task space. ...
The present paper revisits this pioneering work and applies depth sensing to a monochrome variant of the peg transfer task using six blocks and the da Vinci Research Kit (dVRK) [3] , [20] . ...
arXiv:2002.06302v1
fatcat:wedfovymn5d6dgfli6ll6sro7y
Accelerating Surgical Robotics Research: Reviewing 10 Years of Research with the dVRK
[article]
2021
arXiv
pre-print
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2021 pre-print arXiv:2104.09869v3 fatcat:ie3fbvonbvd5ljur3udm4z7psyOther Versions
The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to re-purpose decommissioned da Vinci surgical systems (Intuitive Surgical Inc, CA, USA) as a research platform for surgical ...
robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. ...
Fig. 1 . 1 (left) The da Vinci surgical system is a surgical tele-manipulator: the surgeon sits at a workstation and controls instruments inside the patient by handling a couple of masters; (right top) ...
arXiv:2104.09869v4
fatcat:p6q6mx3zprcrtc7dnkm5b3e3tu
Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit
2021
IEEE robotics & automation magazine
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The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to repurpose decommissioned da Vinci surgical systems [Intuitive Surgical Inc. ...
(ISI), California, USA] as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. ...
of da Vinci surgical systems in 2020; (c) surgical specialties and the total number of interventions up to 2019 using the da Vinci surgical system; [(d); blue curve]the number of publications citing the ...
doi:10.1109/mra.2021.3101646
fatcat:hn66hzs4ojfhbnndasapgsppzy
Robotic Surgery in Ophthalmology
[chapter]
2010
Robot Surgery
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The robot controller senses forces applied by the surgeon on the surgical tool and uses them to provide smooth, tremor-free, precise and scaled motion of the arm. ...
Fig. 5 . 5 A porcine eye with a full thickness scleroconjuntival wound is being sutured using the da Vinci surgical platform. ...
doi:10.5772/6902
fatcat:rnumcwqcuvd27bllzgecg4lk7m
State of the art of robotic surgery related to vision: brain and eye applications of newly available devices
2018
Eye and Brain
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Limitations to robotic assistance remain, that need to be overcome before it can be more widely applied in ocular surgery. ...
Robot-assisted surgery has revolutionized many surgical subspecialties, mainly where procedures have to be performed in confined, difficult to visualize spaces. ...
The da Vinci robot The da Vinci robotic system, widely used in diverse surgical applications, has led to a dramatic increase in the number of robot-assisted procedures in general surgery (e.g., thyroid ...
doi:10.2147/eb.s148644
pmid:29440943
pmcid:PMC5798758
fatcat:6g3kgzdz6rgvhaf6cgube7zk7q
Robotic Vitreoretinal Surgery
2017
Retina
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Results-In ophthalmology, proof-of-concept papers have shown the feasibility of performing many delicate anterior segment and vitreoretinal surgical procedures accurately with robotic assistance. ...
Robotic assistance can help overcome biologic limitations and improve our surgical performance. ...
Acknowledgments Funding: Unrestricted grant from Research to Prevent Blindness, Robert Bond Welch Professorship, gifts from the Merlau family and Aleda Wright, National Institute of Health grant R01EB000526 ...
doi:10.1097/iae.0000000000001398
pmid:27893625
pmcid:PMC5441978
fatcat:wi6em5lwzja4pph3f5nlfl2wpa
A System for MR-Ultrasound Guidance during Robot-Assisted Laparoscopic Radical Prostatectomy
[chapter]
2015
Lecture Notes in Computer Science
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When the anterior prostate surface is exposed, the TRUS, which can be rotated under computer control, is registered to one of the da Vinci patient-side manipulators by recognizing the tip of the da Vinci ...
MRI and TRUS images can then be pointed at and examined by the surgeon at the da Vinci console. We outline the approaches used and present our experience with the system in the first two patients. ...
Next, it was used with a clinical da Vinci surgical system inside a robotic operating room and tested on two patients undergoing RALRP. ...
doi:10.1007/978-3-319-24553-9_61
fatcat:xdo2jc63nfhkdiq6cyy5sfsfha
Robotic Assistance in Microvascular Surgery
[chapter]
2008
Medical Robotics
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The most important disadvantage is that only a two-dimensional image of the operating field can be provided, with a decreased depth perception as a result. ...
A solution to all these problems can be provided by robotic surgery. Research has shown that robotic surgery is superior to traditional laparoscopy [8, 9]. ...
The role of automation is to standardize a procedure. Surgical robots can reduce variations in patient outcome among surgeons and for an individual surgeon. ...
doi:10.5772/5268
fatcat:qmdpuke3z5eepeqtl3phzpj3m4
Medical Robots: Current Systems and Research Directions
2012
Journal of Robotics
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This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent ...
arm design, and haptic feedback to guide the surgeon. ...
Figure 3 (d)), a four-armed surgical robotic system, to compete with the da Vinci [62] . ...
doi:10.1155/2012/401613
fatcat:hs6qrhzo2zezbozagrir5dxluy
Advanced Intelligent Systems for Surgical Robotics
[article]
2020
arXiv
pre-print
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Advanced technologies for sensing, actuation, and intelligent control have enabled multiple surgical devices to simultaneously operate within the human body at low cost and with more efficiency. ...
This paper will overview a historical development of surgery from conventional open to robotic-assisted approaches with discussion on the capabilities of advanced intelligent systems and devices that are ...
Figure 22 . 22 The da Vinci Xi teleoperated system with a self-adjusting operating table. ©[2019] Intuitive Surgical, Inc.
Figure 23 23 Figure 23. ...
arXiv:2001.00285v1
fatcat:eymmyaqgtve6jghuj4fd25jmby
Robotic Applications in Cardiac Surgery
2004
International Journal of Advanced Robotic Systems
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Initially, long instruments without pivot points were used, however, more recent robotic telemanipulation systems have been applied that allow for improved dexterity, enabling the surgeon to perform cardiac ...
As a paradigm shift in the size and location of incisions occurs in cardiac surgery, new methods have been developed to allow the surgeon the same amount of dexterity and accessibility to the heart in ...
da Vinci Robotic System Three components comprise the da Vinci system: a surgeon console, an instrument cart, and a visioning platform. ...
doi:10.5772/5624
fatcat:ehc5jkssxfhf7oiemlzf7hjuyu
Robotics In Vivo: A Perspective on Human–Robot Interaction in Surgical Robotics
2019
Annual Review of Control Robotics and Autonomous Systems
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This article reviews recent work on surgical robots that has been used or tested in vivo, focusing on aspects related to human–robot interaction. ...
We conclude with the open problems and recommendations on how to move forward in this research area. ...
ACKNOWLEDGMENTS We would like to acknowledge financial support from the following sponsors: the Natural Sciences and Engineering Research Council of Canada, the Canadian Institutes of Health Research, ...
doi:10.1146/annurev-control-091219-013437
fatcat:cqyhipmtejctnjmkytik7gphae
Surgical and interventional robotics: part III [Tutorial]
2008
IEEE robotics & automation magazine
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Keywords Surgical assistants, medical robotics, image-guided surgery, surgical CAD-CAM, robot safety. ...
Acknowledgments We thank the National Science Foundation (NSF) for supporting our work in this field through the Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST ...
As noted earlier, the da Vinci system solves this problem by providing a stereoscopic display integrated with the robot master manipulators. ...
doi:10.1109/mra.2008.930401
pmid:20305740
pmcid:PMC2841438
fatcat:vddyuvldfngtxbkrf4kogvy5s4
Robotic Systems: Past, Present, and Future
[chapter]
2011
Robotics in Genitourinary Surgery
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Acknowledgments The research presented in this publication from the Urology Robotics Laboratory at Johns Hopkins Medicine has been partially supported by grants R21CA088232, R21CA141835 from the National ...
robotic surgery with the da Vinci R Surgical System. ...
Current surgical robotic research shows a trend of size reduction compared to the da Vinci system. ...
doi:10.1007/978-1-84882-114-9_59
fatcat:bqiot4takbh6rlkgfxgltow5fe
The Role of Laparoscopic Radical Prostatectomy in the Era of Robotic Surgery
2010
European urology. Supplement
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Conflicts of interest The authors have nothing to disclose.
Funding support None. ...
da Vinci robot. ...
Introduction In the United States, >70% of radical prostatectomies are performed using the robotic da Vinci surgical system (Intuitive Surgical, Inc., Sunnyvale, CA, USA). ...
doi:10.1016/j.eursup.2010.02.006
fatcat:z6ehxcvebbgkzaeb7ynnem263e
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