Abstract
Since the widespread introduction of laparoscopic cholecystectomy in late 1989, the minimally invasive surgery (MIS) has been rapidly developed and applied to many classes of traditional surgeries. Along with the germination of the first surgical robot in 1985, it was not until April 1991 that the first roboticallyassisted MIS was clinically applied to patients in a minimally invasive prostate surgery. Therefore, this paper is devoted to reviewing the development of robotics from the perspective of kinematics in MIS during the past twenty years taking account of the kinematic structures of the manipulator design of the robots. An exclusively kinematic geometry, namely the “remote center-of-motion”, for MIS is reviewed by which a classification of MIS robots is concluded.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Vierra M (1995) Minimally Invasive Surgery, Annual Review of Medicine, Vol. 46, pp. 147–158.
Davies B (2000) A Review of Robotics in Surgery, Proceedings of the Institution of Mechanical Engineers Part H-Journal of Engineering in Medicine, Vol. 214, No. 1, pp. 129–140.
Kwoh YS, Hou J, et al. (1988) A Robot with Improved Absolute Positioning Accuracy for CT Guided Stereotactic Brain Surgery, IEEE Transactions on Biomedical Engineering, Vol. 35, No. 2, pp. 153–160.
Taylor RH, Stoianovici D (2003) Medical Robotics in Computer-Integrated Surgery, IEEE Transactions on Robotics and Automation, Vol. 19, No. 5, pp. 765–781.
Sackier JM, Wang Y (1996) Robotically Assisted Laparoscopic Surgery: From Concept to Development, in Taylor RH, Lavallèe S, et al., Eds, Computer-Integrated Surgery: Technology and Clinical Applications, Cambridge, Massachusetts, MIT Press, pp. 577–580.
Ewing DR, Pigazzi A, et al. (2004) Robots in the Operating Room—The History, Surgical Innovation, Vol. 11, No. 2, pp. 63–71.
Ghodoussi M, Butner SE, Wang Y (2002) Robotic Surgery—The Transatlantic Case, Proceedings of IEEE International Conference on Robotics and Automation, Washington, DC, 11–15 May, pp. 1882–1888.
TrueForce™, http://trueforce.com/Medical_Robotics/Medical_Robotics_Companies/zeus.htm
Guthart GS, Salisbury JK, Jr. (2000) The Intuitive™ Telesurgery System: Overview and Application, Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, California, 24–28 April, pp. 618–621.
Davies BL, Hibberd RD, et al. (1996) A Clinically Applied Robot for Prostatectomies, in Taylor RH, Lavallèe S, et al., Eds, Computer-Integrated Surgery: Technology and Clinical Applications, Cambridge, Massachusetts, MIT Press, pp. 593–601.
Davies B, Starkie S, et al. (2000) Neurobot: A Special-Purpose Robot for Neurosurgery, Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, California, 24–28 April, pp. 4103–4108.
Intuitive Surgical Inc., http://www.intuitivesurgical.com/
Taylor RH, Funda J, et al. (1996) A Telerobotic Assistant for Laparoscopic Surgery, in Taylor RH, Lavallèe S, et al., Eds, Computer-Integrated Surgery: Technology and Clinical Applications, Cambridge, Massachusetts, MIT Press, pp. 581–592.
Taylor R, Jensen P, et al. (1999) A Steady-Hand Robotic System for Microsurgical Augmentation, The International Journal of Robotics Research, Vol. 18, No. 12, pp. 1201–1210.
Stoianovici D, Whitcomb LL, et al. (1998) A Modular Surgical Robotic System for Image Guided Percutaneous Procedures, Proceedings of Medical Image Computing and Computer-Assisted Intervention – MICCAI’98, Cambridge, Massachusetts, 11–13 October, pp. 404–410.
Schurr MO, Buess G, et al. (2000) Robotics and Telemanipulation Technologies for Endoscopic Surgery: A Review of the ARTEMIS Project, Surgical Endoscopy, Vol. 14, No. 4, pp. 375–381.
Hata N, Masamune K, et al. (1998) Needle Insertion Manipulator for CT- and MR-Guided Stereotactic Neurosurgery, in Jolesz FA, Young IR, Eds, Interventional MR: Techniques and Clinical Experience, London, Martin Dunitz, pp. 99–106.
Kobayashi E, Masamune K, et al. (1999) A New Safe Laparoscopic Manipulator System with a Five-Bar Linkage Mechanism and an Optical Zoom, Computer Aided Surgery, Vol. 4, No. 4, pp. 182–192.
Zemiti N, Morel G, et al. (2007) Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery, IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, pp. 143–153.
Salcudean SE, Zhu WH, et al. (1999) A Robot System for Medical Ultrasound, The 9th International Symposium of Robotics Research (ISRR’99), Snowbird, Utah, 9–12 October, pp. 195–202.
Sanchez D, Black M, Hammond S (2002) A Pivot Point Arm for A Robotic System Used to Perform A Surgical Procedure, European Patent No. 1254642.
Pei X, Yu J, et al. (2007) Enumeration and Type Synthesis of One-DOF Remote- Center-of-Motion Mechanisms, Proceedings of 12th IFToMM World Congress, Besançon, France, 18–21 June.
Morley TA, Wallace DT (2005) Roll-Pitch-Roll Surgical Tool, US Patent No. 2005204851.
Taylor RH, Funda J, et al. (1994) Improved Remote Center-of-Motion Robot for Surgery, US Patent No. EP0595291.
Rosen J, Brown JD, et al. (2002) The BlueDRAGON – A System for Measuring the Kinematics and the Dynamics of Minimally Invasive Surgical Tools In-Vivo, Proceedings of IEEE International Conference on Robotics and Automation, Washington, DC, 11–15 May, pp. 1876–1881.
Baumann R, Maeder W, et al. (1997) The PantoScope: A Spherical Remote- Center-of-Motion Parallel Manipulator for Force Reflection, Proceedings of IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, 20–25 April, pp. 718–723.
Stoianovici D, Whitcomb LL, et al. (2003) Remote Center of Motion Robotic System and Method, International Patent No. WO03067341.
Schena B (2007) Center Robotic Arm with Five-Bar Spherical Linkage for Endoscopic Camera, International Patent No. WO2007114975.
Lum MJH, Rosen J, et al. (2006) Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot: Theoretical and Experimental Approaches, IEEE Transactions on Biomedical Engineering, Vol. 53, No. 7, pp. 1440–1445.
Çavuşoğlu MC, Tendick F, et al. (1999) A Laparoscopic Telesurgical Workstation, IEEE Transactions on Robotics and Automation, Vol. 15, No. 4, pp. 728–739.
Berkelman P, Cinquin P, et al. (2002) A Compact, Compliant Laparoscopic Endoscope Manipulator, Proceedings of IEEE International Conference on Robotics and Automation, Washington, DC, 11–15 May, pp. 1870–1875.
Stoianovici D, Cleary K, et al. (2003) AcuBot: A Robot for Radiological Interventions, IEEE Transactions on Robotics and Automation, Vol. 19, No. 5, pp. 927–930
Kang H, Wen JT (2001) Robotic Assistants Aid Surgeons During Minimally Invasive Procedures, IEEE Engineering in Medicine and Biology Magazine, Vol. 20, No. 1, pp. 94–104.
Yasunaga T, Hashizume M, et al. (2003) Remote-Controlled Laparoscope Manipulator System, Naviot™, for Endoscopic Surgery, CARS 2003 – Computer Assisted Radiology and Surgery: Proceedings of the 17th International Congress and Exhibition, Lemke HU, Inamura K, et al., Eds, London, United Kingdom, 25–28 June, pp. 678–683.
Loser MH, Navab N (2000) A New Robotic System for Visually Controlled Percutaneous Interventions under CT Fluoroscopy, Proceedings of Medical Image Computing and Computer-Assisted Intervention – MICCAI 2000, Delp SL, DiGoia AM, Jaramaz B, Eds, Pittsburgh, Pennsylvania, 11–14 October, pp. 887–896.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer Science+Business Media B.V.
About this paper
Cite this paper
Kuo, CH., Dai, J.S. (2009). Robotics for Minimally Invasive Surgery: A Historical Review from the Perspective of Kinematics. In: Yan, HS., Ceccarelli, M. (eds) International Symposium on History of Machines and Mechanisms. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-9485-9_24
Download citation
DOI: https://doi.org/10.1007/978-1-4020-9485-9_24
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-9484-2
Online ISBN: 978-1-4020-9485-9
eBook Packages: EngineeringEngineering (R0)