Medical Robotics. surgical system

Transcription

1 Università di Roma La Sapienza A.A. 2010/11 Medical Robotics da Vinci R surgical system Marilena Vendittelli DIS, Università di Roma La Sapienza

2 goal preserve the benefits to the patient of endoscopic surgery skills by giving back to the surgeon the dexterity of open surgery in particular eye-hand coordination stereoscopic vision ( depth) intuitive motion (no inversion) dof (7 in total) at the tool tip are recovered produced by INTUITIVE SURGICAL M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 2

3 main components master console M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 3

4 slave robot M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 4

5 global view M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 5

6 master console the surgeon controls the arms equipped with the endoscopic tools by looking at the surgical site through a three-dimensional vision device; the system comes into operation only if the the surgeon s head is appropriately positioned the serial manipulators operated by the surgeon act as a high-resolution input device the images of the surgical site are sent to the surgeon through two independent vision channels to two high-definition monitors (one for each eye) the virtual image plane is positioned right above the hands the console interface (switches and foot-actioned buttons) allow the surgeon to control the position of the endoscope, to reposition the master and to adjust the camera focus the controller (control period equal to 10 3 sec) can read 48 encoders and 96 input channels in real-time and can control up to 48 output parallel DSP floating point architecture with computational loads up to 384 Mflops 24 microcontrollers and DSP guarantee data transfer and monitoring tasks redundant sensors, hardware watchdogs and real-time fault detection M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 6

7 slave robot three articulated arms mounted on a base some joints are passive: their position is manually regulated at the beginning of the surgery according to the surgical ports placemen and they remain fixed during the surgery the remaining joints are actuated and remotely controlled by the surgeon two arms hold the surgical tools while the third holds a stereoscopic endoscope standard sterilization procedures of the surgical tools are allowed originality: integration of intra-body dof of the tools intra-body dofs allow surgeries not possible with traditional endoscopy (anastomosis) teleoperation allows filtering of hand tremor and motion scaling high gesture precision and quality M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 7

8 3D vision system (InSite R ) two optical channels with two independent 3-chip CCD (charge-coupled device) two independent vision channels connected to two high-definition monitors with a frame rate of thousands of frames per second temperature at the endoscope extremity is automatically regulated image zooming, contrast improvement, noise reduction repositioning is possible M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 8

9 Endo Wrist R tools about 40 different types of forceps, needle drivers, scalpel, scissors, cautery instruments,... (5 mm, 8 mm) enhanced dexterity, precision and control 7 degrees of freedom, 90 degrees of articulation intuitive motion and finger-tip control motion scaling and tremor reduction ease of use: after an instrument is mounted to the da Vinci System, the interface is designed not only to recognize the type and function of the instrument, but to also display the number of uses M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 9

10 some data (Intuitive Surgical) in 2000 da Vinci obtained FDA (Food and Drug Administration) approval for general laparoscopic surgery currently more than 300 da Vinci systems are in use worldwide the number of da Vinci surgeries is of the order of 10 4 the first prostate resection has been done in Frankfurt 11 years ago in the US about 15% of prostate cancers are treated with the da Vinci M. Vendittelli Robotica Medica (Università di Roma La Sapienza ) da Vinci R surgical system 10