Effect of sensory substitution on suture-manipulation forces for robotic surgical systems

OBJECTIVES: Direct haptic (force or tactile) feedback is not yet available in commercial robotic surgical systems. Previous work by our group and others suggests that haptic feedback might significantly enhance the execution of surgical tasks requiring fine suture manipulation, specifically those encountered in cardiothoracic surgery. We studied the effects of substituting direct haptic feedback with visual and auditory cues to provide the operating surgeon with a representation of the forces he or she is applying with robotic telemanipulators. METHODS: Using the robotic da Vinci surgical system (Intuitive Surgical, Inc, Sunnyvale, Calif), we compared applied forces during a standardized surgical knot-tying task under 4 different sensory-substitution scenarios: no feedback, auditory feedback, visual feedback, and combined auditory-visual feedback. RESULTS: The forces applied with these sensory-substitution modes more closely approximate suture tensions achieved under ideal haptic conditions (ie, hand ties) than forces applied without such sensory feedback. The consistency of applied forces during robot-assisted suture tying aided by visual feedback or combined auditory-visual feedback sensory substitution is superior to that achieved with hand ties. Robot-assisted ties aided with auditory feedback revealed levels of consistency that were generally equivalent or superior to those attained with hand ties. Visual feedback and auditory feedback improve the consistency of robotically applied forces. CONCLUSIONS: Sensory substitution, in the form of visual feedback, auditory feedback, or both, confers quantifiable advantages in applied force accuracy and consistency during the performance of a simple surgical task.     

Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector

Conventional endoscopic surgery has some drawbacks that can be addressed by using robots. The robotic systems used for surgery are still in their infancy. A major deficiency is the lack of haptic feedback to the surgeon. In this paper, the benefits of haptic feedback in robot-assisted surgery are discussed. A novel robotic end-effector is then described that meets the requirements of endoscopic surgery and is sensorized for force/ torque feedback. The endoscopic end-effector is capable of non-invasively measuring its interaction with tissue in all the degrees of freedom available during endoscopic manipulation. It is also capable of remotely actuating a tip and measuring its interaction with the environment without using any sensors on the jaws. The sensorized end-effector can be used as the last arm of a surgical robot to incorporate haptic feedback and/or to evaluate skills and learning curves of residents and surgeons in endoscopic surgery.     

Review of surgical robotics user interface: what is the best way to control robotic surgery?

Background

As surgical robots begin to occupy a larger place in operating rooms around the world, continued innovation is necessary to improve our outcomes.

Methods

A comprehensive review of current surgical robotic user interfaces was performed to describe the modern surgical platforms, identify the benefits, and address the issues of feedback and limitations of visualization.

Results

Most robots currently used in surgery employ a master/slave relationship, with the surgeon seated at a work-console, manipulating the master system and visualizing the operation on a video screen. Although enormous strides have been made to advance current technology to the point of clinical use, limitations still exist. A lack of haptic feedback to the surgeon and the inability of the surgeon to be stationed at the operating table are the most notable examples. The future of robotic surgery sees a marked increase in the visualization technologies used in the operating room, as well as in the robots’ abilities to convey haptic feedback to the surgeon. This will allow unparalleled sensation for the surgeon and almost eliminate inadvertent tissue contact and injury.

Conclusions

A novel design for a user interface will allow the surgeon to have access to the patient bedside, remaining sterile throughout the procedure, employ a head-mounted three-dimensional visualization system, and allow the most intuitive master manipulation of the slave robot to date.     

Novel dynamic information integration during da Vinci robotic partial nephrectomy and radical nephrectomy

With the increasing discovery of small renal neoplasms, minimally invasive excisional approaches have become more popular. Robotic partial nephrectomy is an emerging procedure. During robotic renal surgery, the console surgeon often has a need to view images or other data during the surgical dissection. Herein, we describe the preliminary use of integrative surgical imaging in the console surgical view during 20 cases of robotic partial and radical nephrectomy. Integration of this technology, termed Tilepro, allows the surgeon to view data within the robotic console and thus prevents disengagement. The success rate of transmission was 95% and the usefulness of the transmission was 89%. Complications included delayed transmission and cabling issues. This technology is useful in robotic renal surgery and may have benefits in telepresence or other surgical fields. Electronic supplementary material  The online version of this article (doi:) contains supplementary material, which is available to authorized users.     

Application of haptic feedback to robotic surgery

Robotic surgical systems have greatly contributed to the advancement of minimally invasive endoscopic surgery. However, current robotic systems do not provide tactile or haptic feedback to the operating surgeon. Under certain circumstances, particularly with the manipulation of delicate tissues and suture materials, this may prove to be a significant irritation. We hypothesize that haptic feedback, in the form of sensory substitution, facilitates the performance of surgical knot tying. This preliminary study describes evidence that visual sensory substitution permits the surgeon to apply more consistent, precise, and greater tensions to fine suture materials without breakage during robot-assisted knot tying.     

Applications of robotics in surgery

The end of the 20th century brought an increased use of computerized technology in medicine and surgery. The development of robotic surgical systems opened new approaches in general and cardiac surgery. Two leading robotic companies, Computer Motion, Inc. and Intuitive Surgical, Inc. have developed the Zeus and Da Vinci respectively, as very effective tools for surgeons to use. Both of them consist of a surgeon console, located far from the operating table, and three robotic arms, which reproduce inside the patient's body the movements performed by the surgeon at the console. The advantages of robotic surgery over laparoscopy and open surgery include: better eye-hand coordination, tremor filtration, steadiness of camera, 3-D vision, motion scale, more degrees of freedom for instruments etc. Of course, there are also some disadvantages, like the lack of tactile feedback, long time of set up, long learning curve, high cost etc. However, the advantages seem to overcome the disadvantages and more and more operations are conducted using robots. The impact of robotics in surgery is therefore very promising and in the future it will probably open even more new ways in the surgical practice and education both in Romania and across the globe.     

A telerobotic haptic system for minimally invasive stereotactic neurosurgery

Medical robotics and computer assisted surgery are feasible and promising applications of robotic technology, whose main goals are surgical augmentation, information enhancement and improved surgical action. Neurosurgery probably presents the most major challenges, and can considerably benefit from the introduction of computers and robots to guide surgical procedures. This paper presents an innovative master-slave haptic robotic system for minimally invasive neurosurgery, which can help surgeons overcome human shortcomings and perform more accurate, repeatable, and reliable stereotactic neurosurgery. The system, named LANS, consists of a slave mechatronic actuator and a haptic master. The slave is designed to move linearly a laser pointer, a biopsy needle or a low-energy X-ray emitter along a pre-planned axis. The tool insertion into the brain is guided by the surgeon through the haptic master which also provides force feedback to the operator. Not only can the haptic master reproduce the contact force between the surgical tool and the treated tissue, but it can also produce virtual forces aimed at assisting surgeons during the operations. Experiments have been conducted to prove the soundness and accuracy of the overall system mechanical design and to assess the effectiveness of the control schemes synthesized for the master and the slave.     

Current state-of-the-art and future perspectives of robotic technology in neurosurgery

Neurosurgery is one of the most demanding surgical specialties in terms of precision requirements and surgical field limitations. Recent advancements in robotic technology have generated the possibility of incorporating advanced technological tools to the neurosurgical operating room. Although previous studies have addressed the specific details of new robotic systems, there is very little literature on the strengths and drawbacks of past attempts, currently available platforms and prototypes in development. In this review, the authors present a critical historical analysis of the development of robotic technology in neurosurgery as well as a comprehensive summary of the currently available systems that can be expected to be incorporated to the neurosurgical armamentarium in the near future. Finally, the authors present a critical analysis of the main technical challenges in robotic technology development at the present time (such as the design of improved systems for haptic feedback and the necessity of incorporating intraoperative imaging data) as well as the benefits which robotic technology is expected to bring to specific neurosurgical subspecialties in the near future.     

Web-connected surgery: using the internet for teaching and proctoring of live robotic surgeries

The purpose of this study was to assess the feasibility of using live teleconferencing for teaching of new robotic-assisted surgical techniques. This was a prospective study with review of outcomes (Canadian Task Force classification II-3) in a community hospital. In 2009, our community hospital acquired the da Vinci Connect™ System, a technology which allows for live surgeon-to-surgeon interaction during robotic surgery via a secure internet connection. We utilized this technology from March 2009 through March 2011 to perform 28 live robotic surgeries that were observed by surgeons and hospital staff in 14 different US states as well as in France. We also had 14 episodes where new robotic surgeons in our facilities were mentored by experienced robotic surgeons in other geographic locations live through the da Vinci Connect internet connection. We performed two live surgeries for continuing medical education courses with live interactions between the course attendees and the console surgeon. Finally, one surgeon in our hospital proctored new surgeons remotely in distant sites on challenging cases. Utilizing computers that allow an experienced mentor surgeon to interact with less experienced surgeons on a live case is invaluable and presages the way we will train surgeons in the future. This feasibility study validates the need to pursue this technology for future education and training as well as for real-time collaboration.     

MEMSurgery: an integrated test-bed for vascular surgery

Many surgical procedures require skillful manipulations of blood vessels, especially in conventional invasive or minimally invasive surgical procedures. Current surgical methods do not allow the surgeon to receive any real time feedback of the tissue properties when operating on the vessel. As a result, the unintentional application of excessive force may damage the blood vessel. To minimize such trauma, and to study the interaction of surgical instruments with the vessel structure, we have developed an integrated surgical testbed called MEMSurgery (Microelectromechanical Sensory augmented Surgery). The test-bed integrates four elements: a) force sensors mounted on surgical appliances, b) a feedback control mechanism utilizing the intrinsic mechanical properties of the blood vessel, c) feedback of the force applied on the tissue back to the surgeon through a haptic feedback device, and d) visual feedback by a graphical computer model of the vessel. Finally, we evaluate the performance of MEMSurgery by testing the hypothesis that the combination of haptic feedback, feedback control based on vascular mechanical properties, and real-time visual representation of the vessel will help the surgeon decrease the probability of applying excess force while occluding the blood vessel. To this end, we designed a rodent experimental model to obtain the ideal minimum occlusion force (MOF). After a series of human performance studies, and subsequent comparison to direct application of force on the forceps (without feedback), the results show that the probability of applying reasonable MOF increases from 35.5% to 80%. After a brief training period, the probability increases to 90%.     

Objective evaluation of expert performance during human robotic surgical procedures

Robotic laparoscopic surgery has revolutionized minimally invasive surgery and has increased in popularity due to its important benefits. However, evaluation of surgical performance during human robotic laparoscopic procedures in the operating room is very limited. We previously developed quantitative measures to assess robotic surgical proficiency. In the current study, we want to determine if training task performance is equivalent to performance during human surgical procedures performed with robotic surgery. An expert with more than 5 years of robotic laparoscopic surgical experience performed two training tasks (needle passing and suture tying) and one human laparoscopic procedure (Nissan fundoplication) using the da Vinci™ Surgical System (dVSS). Segments of the human procedure that required needle passing and suture tying were extracted. Time to task completion, distance traveled, speed, curvature, and grip force were measured at the surgical instrument tips. Single-subject analysis was used to compare training task performance and human surgical performance. Nearly all objective measures (8 out of 13) were significantly different between training task performance and human surgical performance for both the needle passing and the suture tying tasks. The surgeon moved slower, made more curved movements, and used more grip force during human surgery. Even though it appears that the surgeon performed better in the training tasks, it is likely that during human surgical procedures, the surgeon is more cautious and meticulous in the movements performed in order to prevent tissue damage or other complications. The needle passing and the suture tying training tasks may be suitable to establish a foundation of surgical skill; however, further training may be necessary to improve transfer of learning to the operating room. We recommend that more realistic training tasks be developed to better predict performance during robotic surgical procedures and testing the transferability of basic skill acquisition to surgical performance.     

Learning Tools and Simulation in Robotic Surgery: State of the Art

Robotic surgery has emerged as a new technology over the last decade and has brought with it new challenges, particularly in terms of teaching and training. To overcome these challenges, robotic courses, virtual simulation, and dual consoles have been successfully introduced. In fact, there are several simulators currently on the market that have proven to be a valid option for training, especially for the novice trainee. Robotic courses have also found success around the world, allowing participants to implement robotic programs at their institution, typically with the help of a proctor. More recently, the dual console has enabled two surgeons to be operating at the same time. Having one experienced surgeon and one trainee each at his or her own console has made it an obvious choice for training. Although these methods have been successfully introduced, the data remain relatively scarce concerning their role in training. The aim of this article was to review the various methods and tools involved in the training of surgeons in robotic surgery.     

Force feedback plays a significant role in minimally invasive surgery: results and analysis

OBJECTIVE: To evaluate the role of force feedback with applications to minimally invasive surgery (MIS). Two research hypotheses were tested using our automated laparoscopic grasper. SUMMARY BACKGROUND DATA: Conventional laparoscopic tools do not have the ability of providing force feedback to a surgeon when in use with or without robotic surgical systems. Loss of haptic (force and tactile) feedback in MIS procedures is a disadvantage to surgeons since they are conventionally used to palpating tissues to diagnose tissues as normal or abnormal. Therefore, the need exists to incorporate force feedback into laparoscopic tools. METHODS: We have developed an automated laparoscopic grasper with force feedback capability to help surgeons differentiate tissue stiffness through a haptic interface device. We tested our system with 20 human subjects (10 surgeons and 10 nonsurgeons) using our grasper to evaluate the role of force feedback to characterize tissues and answer 2 research hypotheses. RESULTS: Our experiments confirmed 1 of our 2 research hypotheses, namely, providing both vision and force feedback leads to better tissue characterization than only vision feedback or only force feedback. CONCLUSIONS: We have validated 1 of our 2 research hypotheses regarding incorporating force feedback with vision feedback to characterize tissues of varying stiffness.     

Novel Technologies in Urologic Surgery: a Rapidly Changing Scenario

The introduction of laparoscopy and robotic surgery revolutionized the surgical management of urologic patients. Nonetheless, we live in an era of rapid changes, and we are probably still in the infancy of technology applied to surgery. When considering currently available technologies, there are several unmet needs to be addressed. These include the application of augmented reality, haptic feedback, tissue recognition, distant remote control, miniaturization of surgical instruments, the learning curve typical of the introduction of novel techniques, and excessive costs. In the next few years, evolution in imaging modalities in pre- and intraoperative surgical planning, as well as the introduction of novel minimally invasive platforms, would in part address these issues, substantially improving surgical outcomes. In addition, validated training programs would allow for the safe implementation of novel techniques in the clinical practice. Finally, a reduction in costs would be necessary to make technology affordable and to optimize healthcare resources.     

Robotic-assisted laparoscopic surgery of the colon and rectum: a literature review

Although it has been almost a decade since the implementation of robotic colorectal surgery, this modality remains under development. The aim of this study is to briefly describe, based on a literature review, the current role of robotic surgery of the colon and rectum. This emerging technique has revealed some benefits such as an improvement in visualization in 3D, image magnification up to 10 times the actual size, and better maneuverability with wrist-like movements offered by the da Vinci? Surgical System. This system is composed of the robotic console in which the surgeon performs the movements to be accomplished by the robot. The latter presents up to three articulated arms for instrumentation as well as the camera arm. Even though the safety and feasibility of robotic colon surgery has been demonstrated, there is no complete manifestation of the advantages of this technique due to the wide surgical field in the abdominal cavity and freedom of movement achieved with other minimally invasive techniques. Robotic rectal surgery represents a different scenario since the advantages of the da Vinci? system are maximally expressed in the confined pelvic cavity. Consequently, in some specialized centers, the robotic modality represents the first therapeutic choice for resectable rectal cancer. Robotic-assisted laparoscopy has demonstrated to be a feasible and safe approach in colorectal surgery and presents some advantages over other techniques in regards to perioperative outcomes. Nonetheless, costs and availability represent the main limitations of this technology.     

Robotic surgery,telerobotic surgery,telepresence, and telementoring. Review of early clinical results

Although laparoscopic cholecystectomy rapidly became the standard of care for the surgical treatment of cholelithiasis, very few other abdominal or cardiac operations are currently performed using minimally invasive surgical techniques. The inherent limitations of traditional laparoscopic surgery make it difficult to perform these operations. We, and others, have attempted to use robotic technology to (a) provide a stable camera platform, (b) replace two-dimensional with three-dimensional (3-D) imaging, (c) simulate the fluid motions of a surgeon's wrist to overcome the motion limitations of straight laparoscopic instruments, and (d) offer the surgeon a comfortable, ergonomically optimal operating position. In this article, we review the early published clinical experience with surgical robotic and telerobotic systems and assess their current limitations. The voice-controlled AESOP robot replaces the cameraperson and facilitates the performance of solo-surgeon laparoscopic operations. AESOP provides a stable camera platform and avoids motion sickness in the operative team. The telerobotic Zeus and da Vinci surgical systems permit solo surgery by a surgeon from a remote sight. These telerobots hold the camera, replace the surgeon's two hands with robotic instruments, and serve in a master–slave relationship for the surgeon. Their robotic instruments simulate the motions of the surgeon's wrist, facilitating dissection. Both telerobots use 3-D imaging to immerse the surgeon in a three-dimensional video operating field. These robots also provide operating positions for the surgeon console that are ergonomically superior to those required by traditional laparoscopy. The technological advances of these telerobots now permit telepresence surgery from remote locations, even locations thousands of miles away. In addition, telepresence permits the telementoring of novice surgeons who are performing new procedures by expert surgeons in remote locations. The studies reviewed here indicate that robotics and telerobotics offer potential solutions to the inherent problems of traditional laparoscopic surgery, as well as new possibilities for telesurgery and telementoring. Nonetheless, these technologies are still in an early stage of development, and each device entails its own set of challenges and limitations for actual use in clinical settings.     

Mentoring console improves collaboration and teaching in surgical robotics

Background: One of the most significant limitations of surgical robots has been their inability to allow multiple surgeons and surgeons-in-training to engage in collaborative control of robotic surgical instruments. We report the initial experience with a novel two-headed da Vinci surgical robot that has two collaborative modes: the "swap" mode allows two surgeons to simultaneously operate and actively swap control of the robot's four arms, and the "nudge" mode allows them to share control of two of the robot's arms. Materials and Methods: The utility of the mentoring console operating in its two collaborative modes was evaluated through a combination of dry laboratory exercises and animal laboratory surgery. The results from surgeon-resident collaborative performance of complex three-handed surgical tasks were compared to results from single-surgeon and single-resident performance. Statistical significance was determined using Student's t-test. Results: Collaborative surgeon-resident swap control reduced the time to completion of complex three-handed surgical tasks by 25% compared to single-surgeon operation of a four-armed da Vinci (P < 0.01) and by 34% compared to single-resident operation (P < 0.001). While swap mode was found to be most helpful during parts of surgical procedures that require multiple hands (such as isolation and division of vessels), nudge mode was particularly useful for guiding a resident's hands during crucially precise steps of an operation (such as proper placement of stitches). Conclusion: The da Vinci mentoring console greatly facilitates surgeon collaboration during robotic surgery and improves the performance of complex surgical tasks. The mentoring console has the potential to improve resident participation in surgical robotics cases, enhance resident education in surgical training programs engaged in surgical robotics, and improve patient safety during robotic surgery.     

Pediatric robotic surgery: lessons from a clinical experience

PURPOSE: Robotic surgery may improve minimally invasive surgery at high magnification by tremor filtration, motion-scaling, and improved dexterity with the provision of a wrist at the end of the robotic instrument. MATERIALS AND METHODS: We chose the Zeus Microwrist robotic surgical system as more applicable to small children than the competing da Vinci surgical system. We attempted 57 surgical procedures and completed 54. RESULTS: Completed procedures included Nissen fundoplication (n = 25), cholecystectomy (n = 18), Heller myotomy (n = 2), splenectomy (n = 2), Morgagni hernia repair (n = 2), and single cases of complex pyloroplasty in the chest, bowel resection, left Bochdalek congenital diaphragmatic hernia repair, esophageal atresia and tracheoesophageal fistula repair, and choledochal cyst excision. There were no complications related to the use of the robot. The mean time for the surgeon at the console using the robot was 117 +/- 39 minutes for Nissen fundoplication, and the total operating room time was 250 +/- 60 minutes. Surgeons found dissection, suturing, and knot tying easier than with conventional laparoscopy. None of the surgeons thought the lack of touch feedback (haptics) was crucial. CONCLUSION: Robotic surgery offers increased dexterity to the pediatric minimally invasive surgeon, but procedures require more time, and there is no defined patient benefit. The fact that robotic surgery digitalizes minimally invasive surgery creates exciting possibilities for training surgeons, planning operations, and performing surgery at great distances from the operator.     

Da Vinci robotic-assisted radical hysterectomy procedural guide

The Da Vinci robotic surgical platform has rapidly been adopted by skilled surgeons for procedures in gynecologic oncology. The lack of specific procedural guides and surgical atlases for robotic surgery in gynecologic oncology produces challenges in the education of trainees in their role both as the assistant and as the console surgeon. This procedural guide was developed in order to facilitate trainee education in the technical aspects of radical hysterectomy for cervical cancer using the Da Vinci robotic surgical platform. Patient selection, preparation, and the technical aspects of robotic radical hysterectomy are described from both the standpoint of the console surgeon and the bedside assistant.     

The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review

Background  Virtual reality (VR) as surgical training tool has become a state-of-the-art technique in training and teaching skills for minimally invasive surgery (MIS). Although intuitively appealing, the true benefits of haptic (VR training) platforms are unknown. Many questions about haptic feedback in the different areas of surgical skills (training) need to be answered before adding costly haptic feedback in VR simulation for MIS training. This study was designed to review the current status and value of haptic feedback in conventional and robot-assisted MIS and training by using virtual reality simulation. Methods  A systematic review of the literature was undertaken using PubMed and MEDLINE. The following search terms were used: Haptic feedback OR Haptics OR Force feedback AND/OR Minimal Invasive Surgery AND/OR Minimal Access Surgery AND/OR Robotics AND/OR Robotic Surgery AND/OR Endoscopic Surgery AND/OR Virtual Reality AND/OR Simulation OR Surgical Training/Education. Results  The results were assessed according to level of evidence as reflected by the Oxford Centre of Evidence-based Medicine Levels of Evidence. Conclusions  In the current literature, no firm consensus exists on the importance of haptic feedback in performing minimally invasive surgery. Although the majority of the results show positive assessment of the benefits of force feedback, results are ambivalent and not unanimous on the subject. Benefits are least disputed when related to surgery using robotics, because there is no haptic feedback in currently used robotics. The addition of haptics is believed to reduce surgical errors resulting from a lack of it, especially in knot tying. Little research has been performed in the area of robot-assisted endoscopic surgical training, but results seem promising. Concerning VR training, results indicate that haptic feedback is important during the early phase of psychomotor skill acquisition.