Transcript Robot Assisted Cardiac Surgery

Robot Assisted Cardiac
Surgery
Course: Cardiovascular Imaging
Submitted by: Alper Yaman
Instructor: Assoc. Prof. Dr. Cengizhan
Öztürk
What is robot assisted
surgery?
Application of computer assisted
robotics to enhance surgeon’s capability
to carry out various “minimally invasive”
surgical procedures.
The advantages of robotic
surgery
Faster, easier and steadier surgery
More accuracy
Enhanced visualisation, zooming
Minimally invasive [1].
The advantages of robotic
surgery 2
Less pain to patient
Shorter recovery time
Shorter hospital stays [1]
Robot Assisted Surgery
Approach
Perception & imaging by sensors and cameras
to monitor the heart
Robot Assisted Surgery
Approach 2
Arms and wrists for clamping, suturing, and severing.
Control Panel
Technical Information
Registration
Preoperative images
(CT or MRI) are
registered both to
stabilize target point
images on the monitor
and to guide the
manipulators [2].
Imaging
Fast video cameras are
used to obtain
operative images.
Technical Information 2
Robot Positioning
Optimal position of the
robot should be provided
concerning with degrees of
freedom of the manipulator
[2].
Technical Information 3
Port Placement: Entry
points are selected by
images on the port.
Robot is registered to the
patient.
Ports are expressed in the
robot coordinate frame
and used to guide the
surgeon [2].
Heart Beat Synchronization
“Motion Cancelling Robot System”
Visual Synchronization: Provides
stabilized target point images on the
monitor.
Motion Synchronization: The slave robot
is synchronized with the heart beat.
Master – Slave Control: Transfers the
master motion to control the slave robot
[3].
Heart Beat Synchronization
“Motion Cancelling Robot System”
[3]
Haptics and Augmented
Reality
Haptics
Applying tactile
sensation and control to
interaction with computer
applications.
Augmented Reality
Computer graphics are
superimposed or
composited with real
images.
Haptic Virtual Fixtures
Software-generated force and position
signals applied to human operators.
To improve the safety, accuracy, and
speed of manipulation tasks.
Integrates robots accuracy and
precision with human intelligence [4].
Haptic Virtual Fixtures 2
Guidance Virtual Fixtures: guides the
robot along desired paths (a).
Forbidden-Region Virtual Fixtures: Keep
the robot out of forbidden regions (b).
[4]
[4]
An example to robots
“Da Vinci Surgical System”
Intuitive nature of the surgeon’s hand
movements
Components:
A surgeon console
 Patient-side cart
 Instruments
 Image processing equipment

An example to robots
“Da Vinci Surgical System” 2
Benefits For The Surgeon:
Improved dexterity
Enhanced 3D visualisation and
magnification
Greater surgical precision
Increased range of motion
Better ergonomics
An example to robots
“Da Vinci Surgical System” 3
Robotic articulated instrumentation daVinci prototype 1997 [5]
An example to robots
Leipzig 1998 [5]
Current Operations with daVinci
Atrial septal defect closure
Internal thoracic artery take-down
Endoscopic coronary bypass
LV bipolar pacing lead placement
Mitral valve repairment and replacement
Ablation of atrial fibrillation [5]
Current Operations with daVinci 2
[5]
Current Operations with daVinci 3
[5]
Transmyocardial
Revascularization
Laser is used to open tiny holes
(transmyocardial channels) on
myocardium.
Angiogenesis: Laser stimulates new
blood vessels to grow.
Channels heal on the outside but
remain open on the inside. [6]
Transmyocardial
Revascularization 2
[6]
Results and Discussion
Robot assisted cardiac surgery is combining
various disciplines: robotics, computer vision
and biomedical engineering. It’s advantages
are:
Faster, easier and steadier surgery
More accuracy
Enhanced visualisation, zooming
Minimally invasive
Less pain to patient
Shorter recovery time
Shorter hospital stays
References
1.
2.
3.
4.
5.
6.
E. Adams, Bibliography: Robotic Surgery, Technology Assessment
Program, Office of Patient Care Services, Boston, March 2004.
`E. Coste-Mani`ere and L. Adhami. Optimal Planning of Robotically
Assisted Heart Surgery: Transfer Precision in the Operating Room.
The International Journal of Robotics Research, Vol. 23, No. 4-5,
539-548 (2004).
Y. Nakamura, K. Kishi, and H. Kawakami. Heartbeat Synchronization
for Robotic Cardiac Surgery. Proc. of the IEEE. International Conf.
On Robotics&Automation, pp. 2014-2019, 2001.
J. J. Abbott, P. Marayong, and A. M. Okamura, "Haptic Virtual
Fixtures for Robot-Assisted Manipulation," 12th International
Symposium of Robotics Research, 2005. (accepted).
W. R. Chitwood. Robotic Cardiac Surgery. 90th Annual Clinical
Congress , American College of Surgeons, New Orleans, 2004.
Cleveland Clinic Heart Center web page,
http://www.clevelandclinic.org/heartcenter/pub/guide/disease/cad/TM
R.htm
Thank you
for your attention!