Telesurgery

Written by experts from the USA, Europe, Australia and Asia, 'Telesurgery' explains technical issues, digital information processing and provides collective experiences from practitioners in different parts of the world practicing a wide range of telesurgery applications. This includes telesurgery research by NASA, trans-atlantic telesurgery by IRCAD, NEEMO underwater telesurgery, Penelope telesurgery systems etc. It lays the foundation for the globalisation of surgical procedures, making it possible to know that a surgeon could perform an operation on a patient anywhere in the world.

Introduction to Telesurgery	p. 1
Introduction to Telemedicine	p. 1
What Is Telesurgery?	p. 1
Does the Robot Actually Perform the Surgery?	p. 2
Telementoring and Telestration	p. 2
Telesurgery: Foregoing Technologies	p. 3
Further Developments	p. 3
How Many Patients Have Had Robotic Telesurgery? Who Is Eligible?	p. 5
Patient Acceptance	p. 6
Scope of Telesurgery	p. 6
Relevance of Telesurgery in Developing Countries	p. 6
Rewards of Telesurgery	p. 7
Summary	p. 7
Bibliography	p. 8
Computer-Assisted Remote Surgery	p. 9
Introduction	p. 9
Education and Training	p. 9
Preoperative Diagnostics	p. 10
Preoperative Planning	p. 12
Intraoperative Applications: Augmented Reality	p. 12
Remote Surgery	p. 14
Future Developments	p. 17
Summary	p. 17
References	p. 18
Telesurgery in Urology	p. 21
Introduction	p. 21
Overview of Telesurgery and Robotics in Urology	p. 22
Master-Slave Robots	p. 24
Remote Surgery and Telementoring	p. 28
Telemedicine and Urology	p. 29
Future Directions	p. 30
Summary	p. 30
References	p. 31
Robot-Assisted Minimally Invasive Brachytherapy for Lung Cancer	p. 33
Lung Cancer Brachytherapy	p. 33
Robotic Minimally Invasive Thoracic Surgery	p. 36
Adjuvant Brachytherapy for Lung Cancer	p. 37
Robot-Assisted Minimally Invasive Brachytherapy for Lung Cancer	p. 38
Lung Tumor Localization	p. 38
Needle Tracking and Guidance	p. 39
Brachytherapy Treatment Planning	p. 39
Brachytherapy Seed Delivery System	p. 40
System at Canadian Surgical Technologies & Advanced Robotics	p. 40
Limitations and Future Directions	p. 46
Conclusion	p. 47
Summary	p. 47
References	p. 48
Robotic-Assisted Heller Myotomy	p. 53
Background	p. 53
Etiology	p. 53
Diagnosis	p. 54
Treatment	p. 54
Mechanical Dilatation	p. 54
Medical Management	p. 55
Chemical Paralysis	p. 55
Surgical Esophagomyotomy	p. 55
Laparoscopic Heller Myotomy	p. 56
Robotically Assisted Heller Myotomy	p. 56
Surgical Technique	p. 57
Heller Myotomy	p. 58
Antireflux Procedure	p. 59
Global Experience	p. 60
Discussion	p. 62
Summary	p. 64
References	p. 64
Robotic-Assisted Surgery: Low-Cost Options	p. 67
Introduction	p. 67
Problems of Endoscopic Surgery	p. 71
Disturbed Hand-Eye Coordination	p. 71
Limited Range of Motion	p. 71
Limited Spherical Vision	p. 72
Solutions for Endoscopic Surgery	p. 72
Geometry of Laparoscopy	p. 72
Working Ergonomics of Laparoscopy	p. 74
Adjustment of Needle and Needle Holder	p. 74
Instruments with Six Degrees of Freedom	p. 75
Stereovision	p. 77
Robotic Camera Holders	p. 77
Passive Holders for Camera and Instruments	p. 78
Master-Slave Systems	p. 79
Experimental Robotic Manipulators	p. 80
Clinically Used Robotic Manipulators	p. 80
Mechanical Manipulator	p. 81
Actual Boom of Robotic-Assisted Radical Prostatectomy	p. 84
Disadvantages of the da Vinci Device	p. 84
Lack of Tactile Feedback	p. 84
Coordination with the Assistant	p. 84
Learning Curve	p. 85
High Investment and Running Costs	p. 85
Future Perspectives and Directions	p. 86
Summary	p. 86
References	p. 86
The Tele-Echography Robot: a Robot for Remote Ultrasonic Examination	p. 91
Introduction	p. 91
The TER System	p. 92
System Architecture	p. 92
TER Releases	p. 93
Experimental Evaluations	p. 94
Clinical Experiments	p. 95
Clinical Feasibility for Angiology Application	p. 95
Focused Assessment Sonography for Trauma versus TER in Emergency Trauma Diagnosis	p. 96
Conclusion	p. 97
Summary	p. 98
Acknowledgments	p. 98
References	p. 98
Information Support for Telesurgery	p. 101
Introduction	p. 101
Presentation System	p. 102
Presentation Interface of Multiple Data	p. 102
Presentation Methods for the Main View	p. 104
Transmission Control	p. 105
Network-Level Transmission Control	p. 106
Application-Level Transmission Control	p. 107
Data Generation	p. 108
Conclusion	p. 109
Summary	p. 109
References	p. 110
Haptics in Telerobotic Systems for Minimally Invasive Surgery	p. 113
Introduction	p. 113
Mechanisms for Haptic Teleoperation	p. 114
Haptic HMI (Master)	p. 115
Sensorized Robot (Slave)	p. 115
Communication and Control for Haptic Teleoperation	p. 117
Experiments: Haptic Telerobotic Palpation of Soft Tissue	p. 118
Related Research Problems	p. 119
Sensory Substitution for Haptic Feedback	p. 119
Time-Delay Compensation in Haptic Teleoperation	p. 121
Haptics-Assisted Training	p. 121
Conclusion	p. 122
Summary	p. 122
Acknowledgments	p. 123
References	p. 123
Robotic Surgery in Ophthalmology	p. 125
Introduction	p. 125
Institute and Global Experience	p. 127
External Ocular Surgery	p. 127
Anterior Segment Surgery	p. 131
Posterior Segment Surgery	p. 131
Conclusions	p. 134
Education and Training Opportunities	p. 135
Future Directions	p. 136
Telerobotic Surgery	p. 136
Telerobotic Mentoring	p. 136
Novel Imaging Acquisition	p. 137
Conclusions	p. 137
Summary	p. 137
References	p. 137
Telesurgery and Computerized Smell Simulators	p. 141
Introduction	p. 141
The Importance of Simulation	p. 141
The Sense of Smell and Medicine	p. 141
Scent Technology	p. 142
Education and Training	p. 144
Practical Applications	p. 144
Computerized Scent and Patient Simulators	p. 144
Computerized Scent and Haptic Surgical Simulators	p. 146
Future Directions	p. 149
Summary	p. 150
References	p. 150
Telementoring in Endocrine Surgery	p. 153
Background	p. 153
Global Experience	p. 155
Education and Training	p. 156
Future Directions	p. 157
Summary	p. 158
References	p. 158
Training in Telesurgery: Building a Successful Program	p. 161
Introduction	p. 161
Methods	p. 161
Telemanipulative Instrumentation	p. 161
Telesurgery Program Development	p. 164
Surgical Training Curriculum	p. 165
Results	p. 166
Discussion	p. 168
Summary	p. 169
References	p. 169
Telesurgery and the Law	p. 171
Introduction	p. 171
Licensure	p. 171
Accreditation	p. 172
Privacy	p. 172
Malpractice Liability	p. 173
Conclusion	p. 175
Summary	p. 176
References	p. 177
Telesurgery: An Audit	p. 179
Telesurgery Is Still in Its Infancy	p. 179
Will Telesurgery Replace Traditional Methods?	p. 179
Economics of Telesurgery	p. 180
Issues Related to Telesurgery: a Brief Overview	p. 181
An Outlook	p. 183
Conclusion	p. 183
Summary	p. 184
Bibliography	p. 184
Glossary	p. 185
Subject Index	p. 189
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