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An Experimental Feasibility Study on Robotic Endonasal Telesurgery

Identifieur interne : 001940 ( Pmc/Curation ); précédent : 001939; suivant : 001941

An Experimental Feasibility Study on Robotic Endonasal Telesurgery

Auteurs : Raul Wirz [États-Unis] ; Luis Torres [États-Unis] ; Philip Swaney [États-Unis] ; Hunter Gilbert [États-Unis] ; Ron Alterovitz [États-Unis] ; Robert J. Webster [États-Unis] ; Kyle D. Weaver [États-Unis] ; Paul T. Russell [États-Unis]

Source :

Neurosurgery [ 0148-396X ] ; 2015.

RBID : PMC:4366329

Abstract

Background

Novel robots have recently been developed specifically for endonasal surgery. They can deliver several thin, tentacle-like surgical instruments through a single nostril. Among the many potential advantages of such a robotic system is the prospect of telesurgery over long distances.

Objective

To describe a phantom pituitary tumor removal done by a surgeon in Nashville, Tennessee, controlling a robot located approximately 800 km away in Chapel Hill, North Carolina. This is the first remote telesurgery experiment involving tentacle-like concentric tube manipulators.

Methods

A phantom pituitary tumor removal experiment was conducted twice – once locally and once remotely – using the robotic system. Robot commands and video were transmitted across the Internet. The latency of the system was evaluated quantitatively in both local and remote cases to determine the effect of the 800 km between the surgeon and robot.

Results

We measured a control and video latency of less than 100 ms in the remote case. Qualitatively, the surgeon was able to carry out the experiment easily, and observed no discernable difference between the remote and local cases.

Conclusion

Telesurgery over long distances is feasible with this robotic system. In the longer term, this may enable expert skull base surgeons to help many more patients by performing surgeries remotely over long distances.

Url:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4366329

DOI: 10.1227/NEU.0000000000000623
PubMed: 25599203
PubMed Central: 4366329

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<author><name sortKey="Wirz, Raul" sort="Wirz, Raul" uniqKey="Wirz R" first="Raul" last="Wirz">Raul Wirz</name>
<affiliation wicri:level="2"><nlm:aff id="A1">Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee</nlm:aff>
<country xml:lang="fr">États-Unis</country>
<placeName><region type="state">Tennessee</region>
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<wicri:cityArea>Department of Mechanical Engineering, Vanderbilt University, Nashville</wicri:cityArea>
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<author><name sortKey="Torres, Luis" sort="Torres, Luis" uniqKey="Torres L" first="Luis" last="Torres">Luis Torres</name>
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<country xml:lang="fr">États-Unis</country>
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<author><name sortKey="Swaney, Philip" sort="Swaney, Philip" uniqKey="Swaney P" first="Philip" last="Swaney">Philip Swaney</name>
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<author><name sortKey="Gilbert, Hunter" sort="Gilbert, Hunter" uniqKey="Gilbert H" first="Hunter" last="Gilbert">Hunter Gilbert</name>
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<author><name sortKey="Russell, Paul T" sort="Russell, Paul T" uniqKey="Russell P" first="Paul T." last="Russell">Paul T. Russell</name>
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<series><title level="j">Neurosurgery</title>
<idno type="ISSN">0148-396X</idno>
<idno type="eISSN">1524-4040</idno>
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<front><div type="abstract" xml:lang="en"><sec id="S1"><title>Background</title>
<p id="P1">Novel robots have recently been developed specifically for endonasal surgery. They can deliver several thin, tentacle-like surgical instruments through a single nostril. Among the many potential advantages of such a robotic system is the prospect of telesurgery over long distances.</p>
</sec>
<sec id="S2"><title>Objective</title>
<p id="P2">To describe a phantom pituitary tumor removal done by a surgeon in Nashville, Tennessee, controlling a robot located approximately 800 km away in Chapel Hill, North Carolina. This is the first remote telesurgery experiment involving tentacle-like concentric tube manipulators.</p>
</sec>
<sec id="S3"><title>Methods</title>
<p id="P3">A phantom pituitary tumor removal experiment was conducted twice – once locally and once remotely – using the robotic system. Robot commands and video were transmitted across the Internet. The latency of the system was evaluated quantitatively in both local and remote cases to determine the effect of the 800 km between the surgeon and robot.</p>
</sec>
<sec id="S4"><title>Results</title>
<p id="P4">We measured a control and video latency of less than 100 ms in the remote case. Qualitatively, the surgeon was able to carry out the experiment easily, and observed no discernable difference between the remote and local cases.</p>
</sec>
<sec id="S5"><title>Conclusion</title>
<p id="P5">Telesurgery over long distances is feasible with this robotic system. In the longer term, this may enable expert skull base surgeons to help many more patients by performing surgeries remotely over long distances.</p>
</sec>
</div>
</front>
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<pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
  <pmc-dir>properties manuscript</pmc-dir>
  <front><journal-meta><journal-id journal-id-type="nlm-journal-id">7802914</journal-id>
<journal-id journal-id-type="pubmed-jr-id">6081</journal-id>
<journal-id journal-id-type="nlm-ta">Neurosurgery</journal-id>
<journal-id journal-id-type="iso-abbrev">Neurosurgery</journal-id>
<journal-title-group><journal-title>Neurosurgery</journal-title>
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<issn pub-type="ppub">0148-396X</issn>
<issn pub-type="epub">1524-4040</issn>
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<article-id pub-id-type="pmc">4366329</article-id>
<article-id pub-id-type="doi">10.1227/NEU.0000000000000623</article-id>
<article-id pub-id-type="manuscript">NIHMS641779</article-id>
<article-categories><subj-group subj-group-type="heading"><subject>Article</subject>
</subj-group>
</article-categories>
<title-group><article-title>An Experimental Feasibility Study on Robotic Endonasal Telesurgery</article-title>
</title-group>
<contrib-group><contrib contrib-type="author"><name><surname>Wirz</surname>
<given-names>Raul</given-names>
</name>
<degrees>PhD</degrees>
<xref ref-type="aff" rid="A1">1</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Torres</surname>
<given-names>Luis</given-names>
</name>
<degrees>BS</degrees>
<xref ref-type="aff" rid="A2">2</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Swaney</surname>
<given-names>Philip</given-names>
</name>
<degrees>BS</degrees>
<xref ref-type="aff" rid="A1">1</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Gilbert</surname>
<given-names>Hunter</given-names>
</name>
<degrees>BS</degrees>
<xref ref-type="aff" rid="A1">1</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Alterovitz</surname>
<given-names>Ron</given-names>
</name>
<degrees>PhD</degrees>
<xref ref-type="aff" rid="A2">2</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Webster</surname>
<given-names>Robert J.</given-names>
<suffix>III</suffix>
</name>
<degrees>PhD</degrees>
<xref ref-type="aff" rid="A1">1</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Weaver</surname>
<given-names>Kyle D.</given-names>
</name>
<degrees>MD</degrees>
<xref ref-type="aff" rid="A3">3</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Russell</surname>
<given-names>Paul T.</given-names>
<suffix>III</suffix>
</name>
<degrees>MD</degrees>
<xref ref-type="aff" rid="A3">3</xref>
</contrib>
</contrib-group>
<aff id="A1"><label>1</label>
Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee</aff>
<aff id="A2"><label>2</label>
Department of Computer Science, University of North Carolina at Chapel Hill, North Carolina</aff>
<aff id="A3"><label>3</label>
Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee</aff>
<author-notes><corresp id="cor1"><bold>Corresponding author</bold>
: Raul Wirz PhD, Department of Mechanical Engineering, VU Station B 351592, Olin Hall, 2301 Vanderbilt Place, Nashville, TN 37235-1592, Phone: 615-343-0609, <email>raul.wirzgo@vanderbilt.edu</email>
</corresp>
</author-notes>
<pub-date pub-type="nihms-submitted"><day>13</day>
<month>11</month>
<year>2014</year>
</pub-date>
<pub-date pub-type="ppub"><month>4</month>
<year>2015</year>
</pub-date>
<pub-date pub-type="pmc-release"><day>01</day>
<month>4</month>
<year>2016</year>
</pub-date>
<volume>76</volume>
<issue>4</issue>
<fpage>479</fpage>
<lpage>484</lpage>
<pmc-comment>elocation-id from pubmed: 10.1227/NEU.0000000000000623</pmc-comment>
      <abstract><sec id="S1"><title>Background</title>
<p id="P1">Novel robots have recently been developed specifically for endonasal surgery. They can deliver several thin, tentacle-like surgical instruments through a single nostril. Among the many potential advantages of such a robotic system is the prospect of telesurgery over long distances.</p>
</sec>
<sec id="S2"><title>Objective</title>
<p id="P2">To describe a phantom pituitary tumor removal done by a surgeon in Nashville, Tennessee, controlling a robot located approximately 800 km away in Chapel Hill, North Carolina. This is the first remote telesurgery experiment involving tentacle-like concentric tube manipulators.</p>
</sec>
<sec id="S3"><title>Methods</title>
<p id="P3">A phantom pituitary tumor removal experiment was conducted twice – once locally and once remotely – using the robotic system. Robot commands and video were transmitted across the Internet. The latency of the system was evaluated quantitatively in both local and remote cases to determine the effect of the 800 km between the surgeon and robot.</p>
</sec>
<sec id="S4"><title>Results</title>
<p id="P4">We measured a control and video latency of less than 100 ms in the remote case. Qualitatively, the surgeon was able to carry out the experiment easily, and observed no discernable difference between the remote and local cases.</p>
</sec>
<sec id="S5"><title>Conclusion</title>
<p id="P5">Telesurgery over long distances is feasible with this robotic system. In the longer term, this may enable expert skull base surgeons to help many more patients by performing surgeries remotely over long distances.</p>
</sec>
</abstract>
<kwd-group><kwd>Reaction Time</kwd>
<kwd>Remote operations</kwd>
<kwd>Robotics</kwd>
<kwd>Skull base</kwd>
<kwd>Telerobotics</kwd>
</kwd-group>
</article-meta>
</front>
</pmc>
</record>

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An Experimental Feasibility Study on Robotic Endonasal Telesurgery

An Experimental Feasibility Study on Robotic Endonasal Telesurgery

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Abstract

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Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki