Medical Robotics

by Troccaz, Jocelyne

• ISBN13: 9781848213340
• ISBN10: 1848213344
• Edition: 1st
• Format: Hardcover
• Copyright: 2012-02-13
• Publisher: Wiley-ISTE

Summary

In this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field. For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues. This book describes the short history of the domain, its specificity and constraints, and mature clinical application areas. It also presents the major approaches in terms of design and control including man-machine interaction modes. A large state of the art is presented and many examples from the literature are included and thoroughly discussed. It aims to provide both a broad and summary view of this very active domain as well as keys to understanding the evolutions of the domain and to prepare for the future. An insight to clinical evaluation is also proposed, and the book is finished with a chapter on future developments for intra-body robots.

Author Biography

Jocelyne Troccaz gained her PhD in computer science and robotics from the Institut National Polytechnique de Grenoble in 1986. She currently holds a permanent research position at CNRS in France, and has worked in the field of medical robotics since 1990. Her collaborations with clinicians and companies have resulted in several systems which have been used in clinical routine for many years.

Table of Contents

Introduction	p. xi
Characteristics and State of the Art	p. 1
Introduction	p. 1
Characteristics of medical robotics	p. 1
Potential advantages of using a robot in a medical procedure	p. 5
State of the art	p. 7
Surgery of the head and neck	p. 8
Orthopedic surgery	p. 13
Mini-invasive or laparoscopic surgery	p. 17
Interventional radiology and percutaneous procedures	p. 23
Remote ultrasound	p. 29
Radiotherapy and radiology	p. 33
Other applications	p. 39
Conclusion	p. 42
Bibliography	p. 42
Medical Robotics in the Service of the Patient	p. 55
Introduction	p. 55
Medical robotics: a field in full development	p. 55
How and why has there been such development?	p. 56
Medical service: a complex notion	p. 57
A cycle of medical service growth	p. 58
The actors	p. 58
A model for the development of the medical service	p. 61
Development diagram	p. 63
A case study: the ViKY robotic endoscope support system	p. 64
The context	p. 64
ViKY and the progression of medical service	p. 64
Relevance of the evaluation of the medical service	p. 66
Conclusion	p. 67
Bibliography	p. 67
Inter-operative Sensors and Registration	p. 69
Introduction	p. 69
Summary of the context and the problem	p. 69
Notions of registration, calibration and tracking	p. 70
Intra-operative sensors	p. 72
Imaging sensors	p. 72
Position sensors	p. 74
Surface sensors	p. 75
Other sensors	p. 76
Principles of registration	p. 76
Notations and definitions	p. 76
Nature of the transformation	p. 77
Matched information	p. 78
Similarity metrics	p. 79
3D/3D rigid registration	p. 84
Open questions	p. 86
Case studies	p. 87
Case no. 1 (interventional radiology)	p. 87
Case no. 2	p. 88
Case no. 3 (Velocityy)	p. 90
Case no. 4	p. 92
Discussion and conclusion	p. 96
Bibliography	p. 97
Augmented Reality	p. 101
Introduction	p. 101
3D modeling of abdominal structures and pathological structures	p. 104
3D visualization system for planning	p. 107
Interactive AR	p. 108
Concept	p. 108
An example application	p. 108
The limits of such a system	p. 110
Automatic AR	p. 110
Augumented reality with fixed camera(s)	p. 111
AR with a mobile camera	p. 120
Taking distortions into account	p. 122
Case Study	p. 124
Percutaneous punctures	p. 124
Bronchoscopic Navigation	p. 126
Neurosurgery	p. 127
Conclusions	p. 129
Bibliography	p. 130
Design of Medical Robots	p. 141
Introduction	p. 141
From the characterization of gestures to the design of robots	p. 145
Analysis of the gesture	p. 145
Kinematic and dynamic specifications	p. 145
Kinematic choices	p. 149
Design methodologies	p. 157
Concept selection	p. 158
Optimization of design parameters	p. 161
Technological choices	p. 165
Actuators	p. 165
Sensors	p. 166
Material	p. 167
Security	p. 167
Introduction	p. 167
Security and dependability	p. 168
Risks reduction in medical robotics	p. 168
Conclusion	p. 171
Bibliography	p. 172
Vision-based Control	p. 177
Introduction	p. 177
Configurations of the imaging device	p. 178
Type of measurement	p. 179
Type of control	p. 181
Sensors	p. 183
Imaging devices	p. 184
Localizers	p. 193
Acquisition of the measurement	p. 193
Acquisition of geometric primitives	p. 194
Tracking of anatomical targets	p. 202
Review of methods for image processing	p. 214
Control	p. 216
Modeling the visual servoing loop	p. 216
Online identification of the interaction matrix	p. 221
Control laws	p. 223
Perspectives	p. 224
Bibliography	p. 225
Interaction Modeling and Force Control	p. 233
Modeling interactions during medico-surgical procedures	p. 233
Introduction	p. 233
Properties of tissues with small displacements	p. 234
Non-viscoelastic models	p. 237
Estimation of force models	p. 238
Case study: needle-tissue interactions during a percutaneous intervention	p. 239
Force control	p. 243
Force control strategies	p. 244
Implicit force control	p. 244
Explicit force control	p. 247
Stability	p. 250
Choice of a control architecture	p. 251
Application examples	p. 251
Conclusion	p. 263
Bibliography	p. 263
Tele-manipulation	p. 269
Introduction	p. 269
The limitations of autonomy	p. 269
Non-autonomous modes of intervention	p. 270
Tele-manipulation in the medical field: interest and applications	p. 270
Tele-manipulation and medical practices	p. 271
Background	p. 271
Action and perception modalities	p. 273
Technology	p. 275
Tele-manipulation with force feedback	p. 278
Introduction	p. 278
Modeling master-slave tele-manipulators (MST)	p. 279
Transparency and stability	p. 281
Bilateral tele-operation control schemes	p. 284
Improvement of existing techniques for medical issues	p. 292
Example: tele-operated needle insertion in interventional radiology	p. 294
Prospects	p. 298
Bibliography	p. 298
Comanipulation	p. 303
Introduction	p. 303
Tele-manipulate, but without the distance	p. 303
Definitions	p. 305
Features and applications in medical and surgical robotics	p. 307
A word about terminology	p. 308
Contents	p. 308
General principles of comanipulation	p. 309
Serial comanipulation	p. 309
Parallel comanipulation	p. 313
Serial comanipulation: intelligent active instrumentation	p. 316
Dexterous instruments for minimally-invasive surgery	p. 316
Tremor filtering in microsurgery	p. 322
Compensation of physiological movements	p. 326
Parallel comanipulation	p. 331
Comanipulation in transparent mode	p. 331
Passive, active, static and dynamic guides	p. 334
Increase the quality of the tactile perception	p. 340
A human in the loop	p. 343
Bibliography	p. 346
Towards Intracorporeal Robotics	p. 351
Introduction	p. 351
Mini-manipulators/tele-operated instrument holders	p. 352
Objectives	p. 352
General description	p. 353
Challenges	p. 356
Robotized colonoscopes and autonomous capsules	p. 357
Objectives	p. 357
General description	p. 358
Challenges	p. 360
Active catheters	p. 362
Objectives	p. 362
General description	p. 363
Challenges	p. 363
Evolution of surgical robotics	p. 366
Towards more autonomous robots	p. 366
Towards a much less invasive surgery	p. 369
Towards the bio-nanorobotics	p. 371
Additional information	p. 386
Preamble	p. 386
The shape memory alloys (SMA)	p. 387
Electroactive polymers	p. 387
Bibliography	p. 388
Conclusion	p. 397
Notations	p. 399
Medical Glossary	p. 401
List of Authors	p. 407
Index	p. 409
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