A telerobotic haptic system for minimally invasive stereotactic neurosurgery.
Identifieur interne : 001633 ( PubMed/Corpus ); précédent : 001632; suivant : 001634A telerobotic haptic system for minimally invasive stereotactic neurosurgery.
Auteurs : A. Rossi ; A. Trevisani ; V. ZanottoSource :
- The international journal of medical robotics + computer assisted surgery : MRCAS [ 1478-596X ] ; 2005.
English descriptors
- KwdEn :
- Biomedical Engineering, Brain (surgery), Equipment Design, Humans, Miniaturization, Minimally Invasive Surgical Procedures (instrumentation), Minimally Invasive Surgical Procedures (methods), Neurosurgical Procedures (instrumentation), Neurosurgical Procedures (methods), Radiosurgery (instrumentation), Robotics (instrumentation), Stereotaxic Techniques (instrumentation), Surgery, Computer-Assisted, Touch.
- MESH :
- instrumentation : Minimally Invasive Surgical Procedures, Neurosurgical Procedures, Radiosurgery, Robotics, Stereotaxic Techniques.
- methods : Minimally Invasive Surgical Procedures, Neurosurgical Procedures.
- surgery : Brain.
- Biomedical Engineering, Equipment Design, Humans, Miniaturization, Surgery, Computer-Assisted, Touch.
Abstract
Medical robotics and computer assisted surgery are feasible and promising applications of robotic technology, whose main goals are surgical augmentation, information enhancement and improved surgical action. Neurosurgery probably presents the most major challenges, and can considerably benefit from the introduction of computers and robots to guide surgical procedures. This paper presents an innovative master-slave haptic robotic system for minimally invasive neurosurgery, which can help surgeons overcome human shortcomings and perform more accurate, repeatable, and reliable stereotactic neurosurgery. The system, named LANS, consists of a slave mechatronic actuator and a haptic master. The slave is designed to move linearly a laser pointer, a biopsy needle or a low-energy X-ray emitter along a pre-planned axis. The tool insertion into the brain is guided by the surgeon through the haptic master which also provides force feedback to the operator. Not only can the haptic master reproduce the contact force between the surgical tool and the treated tissue, but it can also produce virtual forces aimed at assisting surgeons during the operations. Experiments have been conducted to prove the soundness and accuracy of the overall system mechanical design and to assess the effectiveness of the control schemes synthesized for the master and the slave.
DOI: 10.1002/rcs.17
PubMed: 17518380
Links to Exploration step
pubmed:17518380Le document en format XML
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Zanotto</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2005">2005</date><idno type="doi">10.1002/rcs.17</idno><idno type="RBID">pubmed:17518380</idno><idno type="pmid">17518380</idno><idno type="wicri:Area/PubMed/Corpus">001633</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A telerobotic haptic system for minimally invasive stereotactic neurosurgery.</title><author><name sortKey="Rossi, A" sort="Rossi, A" uniqKey="Rossi A" first="A" last="Rossi">A. Rossi</name><affiliation><nlm:affiliation>Department of Innovation in Mechanics and Management, Università di Padova, Italy. aldo.rossi@unipd.it</nlm:affiliation></affiliation></author><author><name sortKey="Trevisani, A" sort="Trevisani, A" uniqKey="Trevisani A" first="A" last="Trevisani">A. Trevisani</name></author><author><name sortKey="Zanotto, V" sort="Zanotto, V" uniqKey="Zanotto V" first="V" last="Zanotto">V. Zanotto</name></author></analytic><series><title level="j">The international journal of medical robotics + computer assisted surgery : MRCAS</title><idno type="eISSN">1478-596X</idno><imprint><date when="2005" type="published">2005</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biomedical Engineering</term><term>Brain (surgery)</term><term>Equipment Design</term><term>Humans</term><term>Miniaturization</term><term>Minimally Invasive Surgical Procedures (instrumentation)</term><term>Minimally Invasive Surgical Procedures (methods)</term><term>Neurosurgical Procedures (instrumentation)</term><term>Neurosurgical Procedures (methods)</term><term>Radiosurgery (instrumentation)</term><term>Robotics (instrumentation)</term><term>Stereotaxic Techniques (instrumentation)</term><term>Surgery, Computer-Assisted</term><term>Touch</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Neurosurgical Procedures</term><term>Radiosurgery</term><term>Robotics</term><term>Stereotaxic Techniques</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Neurosurgical Procedures</term></keywords><keywords scheme="MESH" qualifier="surgery" xml:lang="en"><term>Brain</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Biomedical Engineering</term><term>Equipment Design</term><term>Humans</term><term>Miniaturization</term><term>Surgery, Computer-Assisted</term><term>Touch</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Medical robotics and computer assisted surgery are feasible and promising applications of robotic technology, whose main goals are surgical augmentation, information enhancement and improved surgical action. Neurosurgery probably presents the most major challenges, and can considerably benefit from the introduction of computers and robots to guide surgical procedures. This paper presents an innovative master-slave haptic robotic system for minimally invasive neurosurgery, which can help surgeons overcome human shortcomings and perform more accurate, repeatable, and reliable stereotactic neurosurgery. The system, named LANS, consists of a slave mechatronic actuator and a haptic master. The slave is designed to move linearly a laser pointer, a biopsy needle or a low-energy X-ray emitter along a pre-planned axis. The tool insertion into the brain is guided by the surgeon through the haptic master which also provides force feedback to the operator. Not only can the haptic master reproduce the contact force between the surgical tool and the treated tissue, but it can also produce virtual forces aimed at assisting surgeons during the operations. Experiments have been conducted to prove the soundness and accuracy of the overall system mechanical design and to assess the effectiveness of the control schemes synthesized for the master and the slave.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">17518380</PMID><DateCreated><Year>2007</Year><Month>05</Month><Day>23</Day></DateCreated><DateCompleted><Year>2007</Year><Month>06</Month><Day>12</Day></DateCompleted><DateRevised><Year>2014</Year><Month>11</Month><Day>20</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1478-596X</ISSN><JournalIssue CitedMedium="Internet"><Volume>1</Volume><Issue>2</Issue><PubDate><Year>2005</Year><Month>Jan</Month></PubDate></JournalIssue><Title>The international journal of medical robotics + computer assisted surgery : MRCAS</Title><ISOAbbreviation>Int J Med Robot</ISOAbbreviation></Journal><ArticleTitle>A telerobotic haptic system for minimally invasive stereotactic neurosurgery.</ArticleTitle><Pagination><MedlinePgn>64-75</MedlinePgn></Pagination><Abstract><AbstractText>Medical robotics and computer assisted surgery are feasible and promising applications of robotic technology, whose main goals are surgical augmentation, information enhancement and improved surgical action. Neurosurgery probably presents the most major challenges, and can considerably benefit from the introduction of computers and robots to guide surgical procedures. This paper presents an innovative master-slave haptic robotic system for minimally invasive neurosurgery, which can help surgeons overcome human shortcomings and perform more accurate, repeatable, and reliable stereotactic neurosurgery. The system, named LANS, consists of a slave mechatronic actuator and a haptic master. The slave is designed to move linearly a laser pointer, a biopsy needle or a low-energy X-ray emitter along a pre-planned axis. The tool insertion into the brain is guided by the surgeon through the haptic master which also provides force feedback to the operator. Not only can the haptic master reproduce the contact force between the surgical tool and the treated tissue, but it can also produce virtual forces aimed at assisting surgeons during the operations. Experiments have been conducted to prove the soundness and accuracy of the overall system mechanical design and to assess the effectiveness of the control schemes synthesized for the master and the slave.</AbstractText><CopyrightInformation>Copyright 2005 Robotic Publications Ltd.</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Rossi</LastName><ForeName>A</ForeName><Initials>A</Initials><AffiliationInfo><Affiliation>Department of Innovation in Mechanics and Management, Università di Padova, Italy. aldo.rossi@unipd.it</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Trevisani</LastName><ForeName>A</ForeName><Initials>A</Initials></Author><Author ValidYN="Y"><LastName>Zanotto</LastName><ForeName>V</ForeName><Initials>V</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>Int J Med Robot</MedlineTA><NlmUniqueID>101250764</NlmUniqueID><ISSNLinking>1478-5951</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001698">Biomedical Engineering</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001921">Brain</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000601">surgery</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D008904">Miniaturization</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019060">Minimally Invasive Surgical Procedures</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019635">Neurosurgical Procedures</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D016634">Radiosurgery</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D013238">Stereotaxic Techniques</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014110">Touch</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="pubmed"><Year>2007</Year><Month>5</Month><Day>24</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2007</Year><Month>6</Month><Day>15</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2007</Year><Month>5</Month><Day>24</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1002/rcs.17</ArticleId><ArticleId IdType="pubmed">17518380</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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