Abstract
Robotic Surgery is getting widely spread and applied to more and more clinical cases due to its advantages compared to open surgery, for both the patients and surgeons. However, Robotic Surgery requires a different set of skills and learning compared to open and also laparoscopic surgery. Tele-operation for a robotic system with hand controllers, the delay in the hand commands to be translated into robotic movements, slowness of the robotic movements, remote 2D or 3D vision of the actual operation, and lack of haptic feedback are some of the challenges that Robotic Surgery poses. Surgeons need to go through an intensive training for Robotic Surgery, and the learning and skill development continues throughout their early professional years. Despite the importance of training for Robotic Surgery, there are not yet dedicated, low-cost, and widespread training platforms; rather, surgeons mostly train with the same Robotic Surgery system they use in surgery; hence institutions need to invest on a separate surgical setup for training purposes. This is expensive for the institutions, it provides very limited access to the surgeons for training, and very limited, if any, access to researchers for experimentation. To address these, we have developed in our laboratory a low-cost, and experimental Robotic Surgery Trainer. This setup replicates the challenges that a Robotic Surgery system poses and further provides widespread access through internet connected control of the actual physical system. The overall system is composed of equipment that a standard engineering laboratory can afford. In this paper, we introduce the Robotic Surgery Training System and explain its development, parts, and functionality.
Highlights
With the advancement of technology, robotic surgery has rapidly become a widely available form of surgical operation (Sheetz et al, 2020)
The Robotic Surgery Trainer is composed of a laparoscopy training box, two UR3 robot arms, two ATI force/torque sensors, two standard forceps used in laparoscopy, servo motors to control the jaws of the forceps, an Arduino processors to control the servos, two Touch haptic devices, a laptop to control the overall system, two Sony cameras and an Oculus Gaming Headset for 3D vision, and two separate software, one for on-site haptic control of the Robotic Surgery Trainer and another for off-site control through internet connection
Since in some robotic surgery systems 3D or stereo vision is available to the surgeon, this project aimed for finding a low-cost component to introduce 3D vision to the training system as well
Summary
With the advancement of technology, robotic surgery has rapidly become a widely available form of surgical operation (Sheetz et al, 2020). Our Robotic Surgery Trainer enables teleoperation of two forceps to perform any standard training game in a laparoscopy training box, 3D vision of the operative field inside the training box (as well as 2D vision on a monitor), haptic feedback to the user, Robotic Surgery Training System and remote teleoperation of the system through internet using a standard laptop keyboard with 2D vision Such a system would provide the trainees an easy and widespread access to training for teleoperation with a physical experimental robotic surgery setup. Another challenge that trainees face is the time constraint to using real robotic systems like the Da Vinci robot for training These high-cost systems are needed for surgery and frequently used in hospitals by advanced surgeons. To tackle these challenges our low-cost training system for robotic surgery was developed
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