MEDICAL ROBOTS

EPAC FINAL PROJECT

 INTRODUCTION
• The last decade, Medicine has grown
expontially .
• The Robots are the first cause
• .
Core concepts:
 Medical Robotics,
Computer-Integrated Surgery,
and Closed-Loop Interventions
Factors Affecting the Acceptance
of Medical Robots
 Medical Robotics System
Paradigms: Surgical CAD/CAM
and Surgical Assistance
Technology
Mechanical Design Considerations
Control Paradigms
 Virtual Fixtures
and Human–Machine
Cooperative Systems
Safety and Sterility
Imaging and Modeling
of Patients
 Registration.
• Geometric relationships are fundamental in
medical robotics, especially in surgical
CAD/CAM
 Systems,
Research Areas,
and Applications.
 Nonrobotic Computer-Assisted
Surgery: Navigation
and Image Overlay Devices
• Advantages:
• Versality
• Simplicity
• Haptic sensitivity
 Orthopaedic Systems
• Surgery is helped by CAD/CAM
Percutaneous Needle
Placement Systems
 Telesurgical Systems
• Effective interventions
• Remoted interventions
• In different places
 Microsurgery Systems
• Precision
• Safety
• Delicate structures
• For example: eye, brain, blood vessels
Endoluminal Robots
 Sensorized Instruments
and Haptic Feedback
• Sensor can help to the surgeon in a
intervention
• Tool is controlled by a robot
• The robot help to the surgeon
 Surgical Simulators
and Telerobotic Systems
for Training
• Education
• Involment of the interventions
• Safety
 Other Applications
and Research Areas

• Otolaryngology
• Radiation therapy
 Conclusion and
Future Directions
• Safety of the patient
• Simulators
• Quality
• Speed
•
References
R. H. Taylor, S. Lavallee, G. Burdea, R. Mosges:
• Computer-Integrated Surgery, (MIT, Cambridge
• 1996)
• • J. B. Stiehl,W.H. Konerman, R.G. Haaker: Navigation
• and Robotics in Total Joint and Spine Surgery,
• (Springer, Berlin Heidelberg 2003)
• • A. DiGioia, B. Jaramaz, F. Picard, L. P. Nolte: Computer
• and Robotic Assisted Knee and Hip Surgery,
• (Oxford Univ. Press, Oxford 2004)
• • R. Faust: Surgical Robotics – History, Present and
• Future Applications (Nova Sci., New York 2006)
• • R. J. Maciunas: Interactive Image-Guided Neurosurgery,
• (Am. Assoc. Neurol. Surgeons, Rolling
• Meadows 1993)
• • J. L. Prince and J.M. Links: Medical Imaging Signals
• and Systems (Prentice Hall, Upper Saddle River
• 2006)
• Handbook of Robotics , Siciliano Khatib Editors; Bruno Siciliano, Napoli, Italy,; Oussama Khatib
Department of Computer Science,Stanford University Stanford, CA 94305-9010, USA