The Endo[PA]R system for minimally invasive robotic surgery
Identifieur interne : 006B13 ( Main/Exploration ); précédent : 006B12; suivant : 006B14The Endo[PA]R system for minimally invasive robotic surgery
Auteurs : Hermann Mayer [Allemagne] ; Istvan Nagy [Allemagne] ; Alois Knoll [Allemagne] ; Eva U. Schirmbeck [Allemagne] ; Robert Bauernschmitt [Allemagne]Source :
Descripteurs français
- Pascal (Inist)
- Robotique, Application médicale, Homme, Rétroaction, Commande force, Système autonome, Evaluation système, Système ouvert, Vision ordinateur, Interface utilisateur, Chirurgie, Cardiologie, Endoscopie, Sensibilité tactile, Fidélité, Récurrence, Masse ajoutée, Robot, Vision stéréoscopique, Bras, Cinématique, Equipement entrée sortie, Etude expérimentale, Thorax, ., Théorie des noeuds.
- Wicri :
English descriptors
- KwdEn :
- Added mass, Arm, Autonomous system, Cardiology, Computer vision, Endoscopy, Experimental study, Feedback regulation, Fidelity, Force control, Human, Input output equipment, Kinematics, Medical application, Open systems, Recurrence, Robot, Robotics, Stereopsis, Surgery, System evaluation, Tactile sensitivity, Thorax, User interface, knot theory.
Abstract
Minimally invasive robotic surgery systems has entered daily practice in dedicated clinical centers. Especially heart surgery profits from this new technique, due to a higher accuracy compared to conventional endoscopic interventions. Nevertheless some drawbacks have restricted a broader acceptance of these devices. The most urgent issues are lack of haptic feedback and prolonged operation time. Our research project tackles both topics, on the one hand by adding high fidelity force-feedback, on the other hand by automating recurrent manipulation tasks. These features have been integrated into the Endo[PA]R (Endoscopic Partially-Autonomous Robot) system, an open evaluation platform for robotic surgery. The setup comprises two low-payload robots equipped with sensorized surgical instruments and a third robot carrying a stereo camera system. Trocar kinematics, enabling surgical manipulation through small incisions, has been implemented for all robotic arms. In order to ensure operation dose to reality, a thorax and heart phantom for surgical training was used in the experiments. Stereo vision is provided via a head-mounted display and force-reflective input devices are employed for user interaction. The system was evaluated by surgeons and it was capable of performing autonomous knot-tying.
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 000C43
- to stream PascalFrancis, to step Curation: 000863
- to stream PascalFrancis, to step Checkpoint: 000C00
- to stream Main, to step Merge: 006F22
- to stream Main, to step Curation: 006B13
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">The Endo[PA]R system for minimally invasive robotic surgery</title><author><name sortKey="Mayer, Hermann" sort="Mayer, Hermann" uniqKey="Mayer H" first="Hermann" last="Mayer">Hermann Mayer</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Robotics and Embedded Systems Technische Universität Miinchen</s1><s2>Garching</s2><s3>DEU</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>Garching</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion></affiliation></author><author><name sortKey="Nagy, Istvan" sort="Nagy, Istvan" uniqKey="Nagy I" first="Istvan" last="Nagy">Istvan Nagy</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Robotics and Embedded Systems Technische Universität Miinchen</s1><s2>Garching</s2><s3>DEU</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>Garching</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion></affiliation></author><author><name sortKey="Knoll, Alois" sort="Knoll, Alois" uniqKey="Knoll A" first="Alois" last="Knoll">Alois Knoll</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Robotics and Embedded Systems Technische Universität Miinchen</s1><s2>Garching</s2><s3>DEU</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>Garching</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion></affiliation></author><author><name sortKey="Schirmbeck, Eva U" sort="Schirmbeck, Eva U" uniqKey="Schirmbeck E" first="Eva U." last="Schirmbeck">Eva U. Schirmbeck</name><affiliation wicri:level="3"><inist:fA14 i1="02"><s1>Klinik für Herz- und Gefässchirurgie Deutsches Herzzentrum München</s1><s2>München</s2><s3>DEU</s3><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><placeName><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region><settlement type="city">Munich</settlement></placeName></affiliation></author><author><name sortKey="Bauernschmitt, Robert" sort="Bauernschmitt, Robert" uniqKey="Bauernschmitt R" first="Robert" last="Bauernschmitt">Robert Bauernschmitt</name><affiliation wicri:level="3"><inist:fA14 i1="02"><s1>Klinik für Herz- und Gefässchirurgie Deutsches Herzzentrum München</s1><s2>München</s2><s3>DEU</s3><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><placeName><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region><settlement type="city">Munich</settlement></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">06-0459810</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 06-0459810 INIST</idno><idno type="RBID">Pascal:06-0459810</idno><idno type="wicri:Area/PascalFrancis/Corpus">000C43</idno><idno type="wicri:Area/PascalFrancis/Curation">000863</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000C00</idno><idno type="wicri:Area/Main/Merge">006F22</idno><idno type="wicri:Area/Main/Curation">006B13</idno><idno type="wicri:Area/Main/Exploration">006B13</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">The Endo[PA]R system for minimally invasive robotic surgery</title><author><name sortKey="Mayer, Hermann" sort="Mayer, Hermann" uniqKey="Mayer H" first="Hermann" last="Mayer">Hermann Mayer</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Robotics and Embedded Systems Technische Universität Miinchen</s1><s2>Garching</s2><s3>DEU</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>Garching</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion></affiliation></author><author><name sortKey="Nagy, Istvan" sort="Nagy, Istvan" uniqKey="Nagy I" first="Istvan" last="Nagy">Istvan Nagy</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Robotics and Embedded Systems Technische Universität Miinchen</s1><s2>Garching</s2><s3>DEU</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>Garching</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion></affiliation></author><author><name sortKey="Knoll, Alois" sort="Knoll, Alois" uniqKey="Knoll A" first="Alois" last="Knoll">Alois Knoll</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Robotics and Embedded Systems Technische Universität Miinchen</s1><s2>Garching</s2><s3>DEU</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>Garching</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion><wicri:noRegion>Robotics and Embedded Systems Technische Universität Miinchen</wicri:noRegion></affiliation></author><author><name sortKey="Schirmbeck, Eva U" sort="Schirmbeck, Eva U" uniqKey="Schirmbeck E" first="Eva U." last="Schirmbeck">Eva U. Schirmbeck</name><affiliation wicri:level="3"><inist:fA14 i1="02"><s1>Klinik für Herz- und Gefässchirurgie Deutsches Herzzentrum München</s1><s2>München</s2><s3>DEU</s3><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><placeName><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region><settlement type="city">Munich</settlement></placeName></affiliation></author><author><name sortKey="Bauernschmitt, Robert" sort="Bauernschmitt, Robert" uniqKey="Bauernschmitt R" first="Robert" last="Bauernschmitt">Robert Bauernschmitt</name><affiliation wicri:level="3"><inist:fA14 i1="02"><s1>Klinik für Herz- und Gefässchirurgie Deutsches Herzzentrum München</s1><s2>München</s2><s3>DEU</s3><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><placeName><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region><settlement type="city">Munich</settlement></placeName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Added mass</term><term>Arm</term><term>Autonomous system</term><term>Cardiology</term><term>Computer vision</term><term>Endoscopy</term><term>Experimental study</term><term>Feedback regulation</term><term>Fidelity</term><term>Force control</term><term>Human</term><term>Input output equipment</term><term>Kinematics</term><term>Medical application</term><term>Open systems</term><term>Recurrence</term><term>Robot</term><term>Robotics</term><term>Stereopsis</term><term>Surgery</term><term>System evaluation</term><term>Tactile sensitivity</term><term>Thorax</term><term>User interface</term><term>knot theory</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Application médicale</term><term>Homme</term><term>Rétroaction</term><term>Commande force</term><term>Système autonome</term><term>Evaluation système</term><term>Système ouvert</term><term>Vision ordinateur</term><term>Interface utilisateur</term><term>Chirurgie</term><term>Cardiologie</term><term>Endoscopie</term><term>Sensibilité tactile</term><term>Fidélité</term><term>Récurrence</term><term>Masse ajoutée</term><term>Robot</term><term>Vision stéréoscopique</term><term>Bras</term><term>Cinématique</term><term>Equipement entrée sortie</term><term>Etude expérimentale</term><term>Thorax</term><term>.</term><term>Théorie des noeuds</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Homme</term><term>Chirurgie</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Minimally invasive robotic surgery systems has entered daily practice in dedicated clinical centers. Especially heart surgery profits from this new technique, due to a higher accuracy compared to conventional endoscopic interventions. Nevertheless some drawbacks have restricted a broader acceptance of these devices. The most urgent issues are lack of haptic feedback and prolonged operation time. Our research project tackles both topics, on the one hand by adding high fidelity force-feedback, on the other hand by automating recurrent manipulation tasks. These features have been integrated into the Endo[PA]R (Endoscopic Partially-Autonomous Robot) system, an open evaluation platform for robotic surgery. The setup comprises two low-payload robots equipped with sensorized surgical instruments and a third robot carrying a stereo camera system. Trocar kinematics, enabling surgical manipulation through small incisions, has been implemented for all robotic arms. In order to ensure operation dose to reality, a thorax and heart phantom for surgical training was used in the experiments. Stereo vision is provided via a head-mounted display and force-reflective input devices are employed for user interaction. The system was evaluated by surgeons and it was capable of performing autonomous knot-tying.</div></front></TEI><affiliations><list><country><li>Allemagne</li></country><region><li>Bavière</li><li>District de Haute-Bavière</li></region><settlement><li>Munich</li></settlement></list><tree><country name="Allemagne"><noRegion><name sortKey="Mayer, Hermann" sort="Mayer, Hermann" uniqKey="Mayer H" first="Hermann" last="Mayer">Hermann Mayer</name></noRegion><name sortKey="Bauernschmitt, Robert" sort="Bauernschmitt, Robert" uniqKey="Bauernschmitt R" first="Robert" last="Bauernschmitt">Robert Bauernschmitt</name><name sortKey="Knoll, Alois" sort="Knoll, Alois" uniqKey="Knoll A" first="Alois" last="Knoll">Alois Knoll</name><name sortKey="Nagy, Istvan" sort="Nagy, Istvan" uniqKey="Nagy I" first="Istvan" last="Nagy">Istvan Nagy</name><name sortKey="Schirmbeck, Eva U" sort="Schirmbeck, Eva U" uniqKey="Schirmbeck E" first="Eva U." last="Schirmbeck">Eva U. Schirmbeck</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 006B13 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 006B13 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Pascal:06-0459810
|texte= The Endo[PA]R system for minimally invasive robotic surgery
}}
| This area was generated with Dilib version V0.6.23. |  |