Miniature Surgical Robots


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Miniature Surgical Robots

  1. 1. Miniature Surgical Robots<br />Lee Redden<br />5-28-2010<br />CS327A Mini-Symposium<br />
  2. 2. Outline<br />Three Types of Surgeries<br />Problems with Miniature Robots<br />Problems with Miniature Surgical Robots<br />Examples of NOTES robots<br />Market Feasibility<br />Questions<br />Miniature Surgical Robots<br />2<br />
  3. 3. Minimally Invasive Surgery<br /> (MIS) <br />Traditional Surgery <br />Miniature Surgical Robots<br />3<br />
  4. 4. Natural Orifice Translumenal <br />Endoscopic Surgery<br />(NOTES)<br />The Cobra triangulating scope<br />Miniature Surgical Robots<br />4<br />
  5. 5. Problems with Miniature Robots<br />They must be small (most of the other problems come from this)<br />Use small motors, no torque, no power<br />Wireless? (Supply own power)<br />Create locomotion, perform <br /> surgery <br />SIZE<br /> SPEED<br />STRENGTH<br />Miniature Surgical Robots<br />5<br />
  6. 6. One Peritoneal Cavity Surgical Solution<br />Miniature Surgical Robots<br />6<br />
  7. 7. Camera not restricted to a port<br />Miniature Surgical Robots<br />7<br />
  8. 8. Problems with Miniature Surgical Robots<br />Loss of access, manipulation, palpation, vision<br />Sterilization<br /><ul><li>Stabilization
  9. 9. FDA approval, electronics inside patients</li></ul>Malfunctions, asimov’s three rules<br />How do you control the robots<br />Surgeon Training<br />Miniature Surgical Robots<br />8<br />
  10. 10. Peritoneal Cavity Driving Robots<br />Miniature Surgical Robots<br />9<br />
  11. 11. How Should <br />Micro-bots Swim?<br />How Sould Micro-bots <br />Assemble?<br />How Should <br />Micro-bots Walk?<br />Miniature Surgical Robots<br />10<br />
  12. 12. Versatile Endoscopic Capsule for gastrointestinal TumOr Recognition and therapy (VECTOR)<br />Pills for GI Track Inspection<br />Wireless Capsule Endoscopy<br />Miniature Surgical Robots<br />11<br />
  13. 13. Market Feasibility<br />Minimal Invasive Surgery = Minimal Access<br />Significantly longer surgeries<br />Less morbidity, less recovery time<br />Small portable <br /> (take to space, war zone)<br />Cheaper<br />Procedure dependent device<br />Miniature Surgical Robots<br />12<br />
  14. 14. Citations<br />Patronik, N. A., Zenati, M. A., and Riviere, C. N. 2005. Preliminary evaluation of a mobile robotic device for navigation and intervention on the beating heart. Computer Aided Surgery, 10(4):225-232.<br />Lee L Swanström, MD, FACS, YashodanKhajanchee, MD, Maher A Abbas, MD, FACS, FASCRS. 2008. Natural Orifice Transluminal Endoscopic Surgery: The Future of Gastrointestinal Surgery. The Permanente Journal. Volume 12 No. 2<br />Lehman, A., Wood, N., Dumpert, J., Oleynikov, D., Farritor, S., "Dexterous Miniature In Vivo Robots for NOTES," IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechanics, Scottsdale, AZ, October 2008.<br />Platt, S., Hawks, J., Rentschler, M., Redden, L., Farritor, S., Oleynikov, D.,"Modular Wireless Wheeled In Vivo Surgical Robots," Proceedings of the 2008 ASME International Design Engineering Technical Conferences Computers and Information in Engineering Conference (IDETC/CIE 2008), August 3-6, 2008, Brooklyn, New York.<br />Lehman, A., Wood, N., Dumpert, J., Oleynikov, D., Farritor, S., "Robotic Natural Orifice Translumenal Endoscopic Surgery," IEEE International Conference on Robotics and Automation, pp. 2969-2974, Pasadena, CA, May 2008.<br />Martin Probst, ChristophHürzeler, Ruedi Borer, and Bradley J. Nelson. 2009. A microassembly system for the flexible assembly of hybrid robotic mems devices. International Journal of Optomechatronics<br /> 5-27-10<br />Richard Satava. SLS Annual Meeting, Endo Expo 2009. Boston, MA. September 9, 2009 Future of Surgery and the Future of Surgeons {MS PowerPoint, 28 MB}<br />M. Probst, C. Hürzeler, R. Borer, B. J. Nelson, "A Microassembly System for the Flexible Assembly of Hybrid robotic Mems Devices", International Journal of Optomechatronics, Vol. 3, No. 2, April 2009, p. 69--90.<br />L. Zhang, J. J. Abbott, L. X. Dong, K. E. Peyer, B. E. Kratochvil, H. X. Zhang, C. Bergeles, B. J. Nelson, "Characterizing the Swimming Properties of Artificial Bacterial Flagella", Nano Letters, Vol. 9, No. 10, October 2009, pp. 3663-3667 (doi: 10.1021/nl901869j).<br />Z. Nagy, K. Harada, M. Flückiger, E. Susilo, I. K. Kaliakatsos, A. Menciassi, E. Hawkes, J. J. Abbott, P. Dario, B. J. Nelson, "Assembling Reconfigurable Endoluminal Surgical Systems: Opportunities and Challenges", International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 1, November 2009, pp. 3-16.<br /><br />Miniature Surgical Robots<br />13<br />
  15. 15. Miniature Surgical Robots<br />14<br />
  16. 16. Miniature Surgical Robots<br />15<br />