HapticV1, PascalFrancis, Corpus, bibRecord, 000C43

The Endo[PA]R system for minimally invasive robotic surgery

Identifieur interne : 000C43 ( PascalFrancis/Corpus ); précédent : 000C42; suivant : 000C44

The Endo[PA]R system for minimally invasive robotic surgery

Auteurs : Hermann Mayer ; Istvan Nagy ; Alois Knoll ; Eva U. Schirmbeck ; Robert Bauernschmitt

Source :

RBID : Pascal:06-0459810

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.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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C01	`01`		`ENG`	@0 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.
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Format Inist (serveur)

NO :	PASCAL 06-0459810 INIST
ET :	The Endo[PA]R system for minimally invasive robotic surgery
AU :	MAYER (Hermann); NAGY (Istvan); KNOLL (Alois); SCHIRMBECK (Eva U.); BAUERNSCHMITT (Robert)
AF :	Robotics and Embedded Systems Technische Universität Miinchen/Garching/Allemagne (1 aut., 2 aut., 3 aut.); Klinik für Herz- und Gefässchirurgie Deutsches Herzzentrum München/München/Allemagne (4 aut., 5 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 4, 3637-3642; ISBN 0-7803-8463-6
LA :	Anglais
EA :	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.
CC :	001D02B04; 001D02D11; 001D02C03
FD :	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
ED :	Robotics; Medical application; Human; Feedback regulation; Force control; Autonomous system; System evaluation; Open systems; Computer vision; User interface; Surgery; Cardiology; Endoscopy; Tactile sensitivity; Fidelity; Recurrence; Added mass; Robot; Stereopsis; Arm; Kinematics; Input output equipment; Experimental study; Thorax; knot theory
SD :	Robótica; Aplicación medical; Hombre; Retroacción; Control fuerza; Sistema autónomo; Evaluación sistema; Sistema abierto; Visión ordenador; Interfase usuario; Cirugía; Cardiología; Endoscopía; Sensibilidad tactil; Fidelidad; Recurrencia; Masa agregada; Robot; Visión estereoscópica; Brazo; Cinemática; Equipo entrada salida; Estudio experimental; Tórax; Teoría de los nudos
LO :	INIST-Y 38917.354000153490965900
ID :	06-0459810

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Pascal:06-0459810

Le document en format XML

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<term>Feedback regulation</term>
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<term>Force control</term>
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<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>
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<inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>The Endo[PA]R system for minimally invasive robotic surgery</s1>
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<fA11 i1="05" i2="1"><s1>BAUERNSCHMITT (Robert)</s1>
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<fA14 i1="01"><s1>Robotics and Embedded Systems Technische Universität Miinchen</s1>
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<fA18 i1="01" i2="1"><s1>Institute of Electrical and Electronics Engineers</s1>
<s3>USA</s3>
<s9>org-cong.</s9>
</fA18>
<fA18 i1="02" i2="1"><s1>Robotics Society of Japan</s1>
<s3>JPN</s3>
<s9>org-cong.</s9>
</fA18>
<fA18 i1="03" i2="1"><s1>IEEE Robotics and Automation Society</s1>
<s3>USA</s3>
<s9>org-cong.</s9>
</fA18>
<fA20><s2>vol 4, 3637-3642</s2>
</fA20>
<fA21><s1>2004</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA25 i1="01"><s1>IEEE</s1>
<s2>Piscataway NJ</s2>
</fA25>
<fA26 i1="01"><s0>0-7803-8463-6</s0>
</fA26>
<fA30 i1="01" i2="1" l="ENG"><s1>IEEE/RSJ International Conference on Intelligent Robots and Systems</s1>
<s3>Sendai JPN</s3>
<s4>2004</s4>
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<fC01 i1="01" l="ENG"><s0>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.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D02B04</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D02D11</s0>
</fC02>
<fC02 i1="03" i2="X"><s0>001D02C03</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Robotique</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Robotics</s0>
<s5>06</s5>
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<fC03 i1="02" i2="X" l="FRE"><s0>Application médicale</s0>
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<s5>07</s5>
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<s5>07</s5>
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<fC03 i1="03" i2="X" l="FRE"><s0>Homme</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Human</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Hombre</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Commande force</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Force control</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Système autonome</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Autonomous system</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Sistema autónomo</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Evaluation système</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>System evaluation</s0>
<s5>12</s5>
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<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Système ouvert</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Open systems</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Sistema abierto</s0>
<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Vision ordinateur</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Computer vision</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Visión ordenador</s0>
<s5>14</s5>
</fC03>
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<s5>15</s5>
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<s5>15</s5>
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<fC03 i1="10" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>15</s5>
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<s5>18</s5>
</fC03>
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<s5>18</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Cirugía</s0>
<s5>18</s5>
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<fC03 i1="12" i2="X" l="FRE"><s0>Cardiologie</s0>
<s5>19</s5>
</fC03>
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<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Cardiología</s0>
<s5>19</s5>
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<fC03 i1="13" i2="X" l="FRE"><s0>Endoscopie</s0>
<s5>20</s5>
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<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Endoscopía</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>21</s5>
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<fC03 i1="14" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>21</s5>
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<fC03 i1="14" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Fidélité</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Fidelity</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Fidelidad</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Récurrence</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Recurrence</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Recurrencia</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Masse ajoutée</s0>
<s5>24</s5>
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<fC03 i1="17" i2="X" l="ENG"><s0>Added mass</s0>
<s5>24</s5>
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<s5>24</s5>
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<fC03 i1="18" i2="X" l="FRE"><s0>Robot</s0>
<s5>25</s5>
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<fC03 i1="18" i2="X" l="ENG"><s0>Robot</s0>
<s5>25</s5>
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<fC03 i1="18" i2="X" l="SPA"><s0>Robot</s0>
<s5>25</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Vision stéréoscopique</s0>
<s5>26</s5>
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<fC03 i1="19" i2="X" l="ENG"><s0>Stereopsis</s0>
<s5>26</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Visión estereoscópica</s0>
<s5>26</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Bras</s0>
<s5>27</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Arm</s0>
<s5>27</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Brazo</s0>
<s5>27</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Cinématique</s0>
<s5>28</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Kinematics</s0>
<s5>28</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Cinemática</s0>
<s5>28</s5>
</fC03>
<fC03 i1="22" i2="X" l="FRE"><s0>Equipement entrée sortie</s0>
<s5>29</s5>
</fC03>
<fC03 i1="22" i2="X" l="ENG"><s0>Input output equipment</s0>
<s5>29</s5>
</fC03>
<fC03 i1="22" i2="X" l="SPA"><s0>Equipo entrada salida</s0>
<s5>29</s5>
</fC03>
<fC03 i1="23" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>33</s5>
</fC03>
<fC03 i1="23" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>33</s5>
</fC03>
<fC03 i1="23" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>33</s5>
</fC03>
<fC03 i1="24" i2="X" l="FRE"><s0>Thorax</s0>
<s5>41</s5>
</fC03>
<fC03 i1="24" i2="X" l="ENG"><s0>Thorax</s0>
<s5>41</s5>
</fC03>
<fC03 i1="24" i2="X" l="SPA"><s0>Tórax</s0>
<s5>41</s5>
</fC03>
<fC03 i1="25" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fC03 i1="26" i2="X" l="FRE"><s0>Théorie des noeuds</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="26" i2="X" l="ENG"><s0>knot theory</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="26" i2="X" l="SPA"><s0>Teoría de los nudos</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fN21><s1>303</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
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<fN82><s1>OTO</s1>
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<server><NO>PASCAL 06-0459810 INIST</NO>
<ET>The Endo[PA]R system for minimally invasive robotic surgery</ET>
<AU>MAYER (Hermann); NAGY (Istvan); KNOLL (Alois); SCHIRMBECK (Eva U.); BAUERNSCHMITT (Robert)</AU>
<AF>Robotics and Embedded Systems Technische Universität Miinchen/Garching/Allemagne (1 aut., 2 aut., 3 aut.); Klinik für Herz- und Gefässchirurgie Deutsches Herzzentrum München/München/Allemagne (4 aut., 5 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 4, 3637-3642; ISBN 0-7803-8463-6</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02B04; 001D02D11; 001D02C03</CC>
<FD>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</FD>
<ED>Robotics; Medical application; Human; Feedback regulation; Force control; Autonomous system; System evaluation; Open systems; Computer vision; User interface; Surgery; Cardiology; Endoscopy; Tactile sensitivity; Fidelity; Recurrence; Added mass; Robot; Stereopsis; Arm; Kinematics; Input output equipment; Experimental study; Thorax; knot theory</ED>
<SD>Robótica; Aplicación medical; Hombre; Retroacción; Control fuerza; Sistema autónomo; Evaluación sistema; Sistema abierto; Visión ordenador; Interfase usuario; Cirugía; Cardiología; Endoscopía; Sensibilidad tactil; Fidelidad; Recurrencia; Masa agregada; Robot; Visión estereoscópica; Brazo; Cinemática; Equipo entrada salida; Estudio experimental; Tórax; Teoría de los nudos</SD>
<LO>INIST-Y 38917.354000153490965900</LO>
<ID>06-0459810</ID>
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The Endo[PA]R system for minimally invasive robotic surgery

The Endo[PA]R system for minimally invasive robotic surgery

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