Introduction_Medical Robotics Types of medical robots - Navigation - Motion Replication - Imaging - Rehabilitation and Prosthetics - State of art of robotics in the field of healthcare

1. Medical Robotics
Department of Robotics & Automation
JSS Academy of Technical Education, Bangalore-560060
(Course Code: 21RA581)

2. Course Learning Objectives
• Provide knowledge on the application of robotics in the field of healthcare
• Overview of the sensor requirements for localization and tracking in medical
applications
• Understand the design aspects of medical robots
Medical Robotics

3. Course outcomes (Course Skill Set)
1. Discuss about the sensors used for localization and tracking
2. Summarize the applications of surgical robotics
3. Outline the concepts in the Rehabilitation of limbs and brain-machine interface (BCI)
4. Classify the types of assistive robots.
5. Analyze the design characteristics, methodology and technological choices for medical robots.
At the end of the course, students will be able to,

4. Continuous Internal Evaluation (CIE)
Three Tests (MCQ pattern with 20 questions) each of 20 Marks (duration 01 hour)
• Three Tests, each of 20 Marks (60 Marks)
• Two assignments each of 10 Marks (20 Marks)
• Quiz/Group discussion/Seminar, any two of three – 20 Marks (20 Marks)
• The sum of total marks of three tests, two assignments, and quiz /seminar/ group
discussion will be out of 100 marks and shall be scaled down to 50 marks
The minimum passing mark for the CIE is 40% of the maximum marks (20 marks out of 50)

5. Books
Text Books:
1. Medical robotics- Minimally Invasive surgery Paula Gomes, Woodhead, 2012
Reference
1. 2. Daniel Faust, Medical Robots, Rosen Publishers 2016

6. Semester End Examination(SEE)
• SEE paper shall be set for 50 questions, each of 01 mark.
• The pattern of the question paper is MCQ (multiple choice questions).
• The time allotted for SEE is 01 hour.
• The student has to secure minimum of 35% of the maximum marks meant for SEE.

7. Medical Robotics
MODULE 1: Introduction

8. Introduction: Types of medical robots - Navigation - Motion Replication -
Imaging - Rehabilitation and Prosthetics - State of art of robotics in the field
of healthcare
Content

9. Introduction
• Most medical robots are indeed designed to cooperate with surgeons and assist them during
the operation.
• Among these, robotic hand-held surgical instruments are enhanced mechatronic tools with a
certain degree of integrated intelligence and autonomy.
• They can assist the surgeons by adjusting movements and constraining the level of interaction
with the operative field.
• During the last three decades, medical robots have been increasingly used to perform many
health tasks.
• As such, they show promising future potential for use in a wide range of health issues

10. Introduction
• In the past few decades, surgical practice has been revolutionised by introducing advanced
instrumentation, enabling a paradigm shift from traditional open surgery to minimally invasive
surgery (MIS).
• The main advantage of MIS is attributed to a reduction in patient trauma, lower hospitalisation
costs, reduced tissue scar and surgical trauma, less pain and faster recovery

11. Introduction
• The nature of MIS (laparoscopy, for example), which involves using long, rigid tools inserted into the patient
via small incisions (cuts), can introduce a range of ergonomic challenges.
• The loss of wrist articulation and the fulcrum effect caused by the inversion of motion direction at the trocar
limits the surgeon's manual dexterity.
• Use of a separate display to convey the visual feedback from a laparoscopic camera separates the visuomotor
axes, thus affecting the hand-eye coordination of the surgeon
A trocar is a medical device used in MIS, typically made up of a tool, a cannula and often a seal

12. Introduction
• Improved control and dexterity are the main benefits of robotic technologies for MIS.
• Mechatronics-enhanced surgical instruments have been designed to compensate for the loss of
wrist articulation caused by the traditional approach.
Dexterity: skill in performing tasks, especially with the hands.

13. Introduction
• Medical robots are robotic machines utilized in health sciences.
• They can be categorized into three main classes
(1) Medical devices, including surgery robotic devices, diagnosis and drug delivery devices
(2) Assistive robotics, including wearable robots and rehabilitation devices
(3) Robots mimicking the human body, including prostheses, artificial organs, and body-part
simulators.

18. Types of Medical Robots
Categories of robotics application

19. Types of Medical Robots
1.Surgical Robots:
1. Robotic Surgical Systems: Used in minimally invasive surgeries (MIS), controlled
by surgeons to perform precise movements with robotic arms and instruments.
2. Telepresence Robots: Enable remote surgery, allowing surgeons to control a
robot from a different location, potentially providing expertise to areas lacking
specialized medical professionals.
2. Rehabilitation Robots:
1. Exoskeletons: Wearable robotic devices assist patients with limb weakness or
paralysis in regaining mobility and strength through controlled movements.
2. Gait Training Robots: Aid individuals in recovering walking abilities after injuries
or surgeries by providing controlled support and guidance.
State of the art of robotics in the field of healthcare

20. 3. Diagnostic Robots:
1. Robot-Assisted Imaging: assist in precise positioning for medical imaging
procedures, ensuring accurate and consistent results.
2. Lab Automation Robots: Assist in laboratory tasks such as sample
handling, testing, and analysis, improving efficiency and reducing human
error.
4. Telepresence Robots:
1. Remote Presence Systems: Allow healthcare professionals to remotely
interact with patients, providing consultations, monitoring, and support
through robotic interfaces.
Types of Medical Robots
State of the art of robotics in the field of healthcare

21. Types of Medical Robots
5. Pharmacy Automation Robots:
1. Medication Dispensing Robots: Automate the process of dispensing and
managing medication, reducing errors and improving efficiency in hospital
pharmacies.
6. Robotic Prosthetics:
1. Bionic Limbs: Advanced robotic prosthetics that use sensors and
microprocessors to mimic natural movements, providing greater functionality
and control for amputees.
7. Robotic Assisted Therapy:
1. Socially Assistive Robots: Support therapeutic interventions for patients with
various conditions, including autism and dementia, by providing
companionship and assistance.

22. Types of Medical Robots
8. Endoscopic Robots:
1. Endoscopic Robotic Systems: Assist in endoscopic surgeries by providing
enhanced dexterity and precision, particularly in hard-to-reach areas of the body.
9. Nanorobotics:
1. Microscale and Nanoscale Robots: Theoretical and emerging field involving
extremely small robots designed to operate at the cellular or molecular level for
diagnostic and therapeutic purposes.
10. Robotic Radiosurgery:
1. CyberKnife and Gamma Knife: Systems that use robotic arms to deliver highly
focused radiation to tumours with sub-millimetre accuracy, minimizing damage to
surrounding healthy tissues.

23. Navigation
• Medical robotics navigation refers to using advanced navigation systems with robotic technologies to enhance
precision, accuracy, and efficiency in various medical procedures.
• These navigation systems provide real-time guidance and visualization to surgeons, allowing them to perform
complex tasks confidently.
C-arm X-ray imaging

24. 1. Robots for Navigation. A robot arm moves the surgical instrument. This allows precise positioning based
on pre-operative imaging. The motion of anatomic structures (e.g. caused by respiration and pulsation) can
be tracked.
Navigation
4. Rehabilitation and Prosthetics. Mechatronic devices can support the recovery process of stroke patients.
• Robotic exoskeletons controlled by brain-computer interfaces (BCI) can replace or support damaged
anatomical structures.
2. Robots for Motion Replication. The robot replicates the surgeon’s hand motion, via a passive robotic
interface. Thus , we can downscale the motion, reduce shocks, and improve minimally invasive methods.
3. Robots for Imaging. An imaging device is mounted to a robotic arm, to acquire 2D or 3D images.

25. Navigation
Some key aspects of medical robotics navigation;
1. Surgical Navigation Systems:
Image-Guided Surgery (IGS): Utilizes preoperative or intraoperative imaging data, such as CT scans or MRI,
to create a 3D map of the patient's anatomy. This map is then used for real-time navigation during surgery.
2. Robotic Surgical Navigation:
Robot-Assisted Navigation: Integrates robotic systems with navigation technologies to enhance the precision
and capabilities of surgical robots. Surgeons can benefit from improved visualization and guidance during
procedures.

26. Navigation
3. Orthopedic Navigation:
Computer-Assisted Orthopedic Surgery (CAOS): Used in orthopedic procedures, this navigation system
aids in precise implant placement, alignment, and bone resections, improving the overall accuracy of surgeries
such as joint replacements.
4. Neurosurgical Navigation:
Intraoperative Neuroimaging: Enables neurosurgeons to navigate and visualize critical structures in the brain
during surgery, enhancing the accuracy of tumour resections and other neurosurgical procedures.

27. Navigation
• ENT (Ear, Nose, and Throat) Navigation: Aid in navigating complex anatomical structures in the head and
neck region during surgeries
• Cardiac Navigation Systems: Aid in navigating the intricate structures of the heart
• Endoscopic Navigation: Providing real-time guidance for navigation through the gastrointestinal tract.
• Robotic Bronchoscopy: Combines robotics with navigation to enhance the accuracy of bronchoscopic
procedures and precise targeting of lesions within the lungs.
• Spinal Surgical Navigation: Assists in spine surgeries by providing real-time guidance for accurate screw
placement, spinal fusion, and other procedures
• Stereotactic Radiosurgery Navigation: Integrates robotics with radiosurgery systems for precise targeting of
tumours, ensuring that radiation is delivered with high accuracy.

28. State of the art of robotics in the field of healthcare
the walking-aid robot
rehabilitation system
robot gathering supplies

29. END