Abstract
Abstract Robotic assistance in surgical interventions has been shown to improve both the surgical outcome and the surgeon’s performance. However, cost-efficient implementation of such systems in an operating room workflow is not yet resolved. Most of the current approaches use highly specialized and purpose-built robotic components, resulting in large costs. This paper presents an investigation into the usage of off-the-shelf robots as cost-efficient basis for teleoperated surgery. In addition, the modifications required of the robot and/or operating environment to make it suitable for the medical setting are assessed. The considered systems are found via a literature search and the MERODA-database, specifically focusing on systems designed for teleoperated surgery which use industrial robots. Among the 126 telemanipulated systems found, only 10 use industrial robots for surgical procedures. Overall, due to the better availability, reduced costs, and increased performance, current industrial robots should be further considered for new and versatile lowcost approaches to teleoperated surgery.
Highlights
Since the 1980s, the use of robotics in the operating room (OR) has been present [1]
This paper investigates the use of off-the-shelf robots as a cost-efficient basis for teleoperated surgery (TOS)
126 medical systems for use in a remote controlled telemanipulation setup were found, of which only 33 systems were based on an industrial robot
Summary
Since the 1980s, the use of robotics in the operating room (OR) has been present [1]. As the result of common operational scenarios, the majority of present day robotic systems can be categorised into one of four groups These include: static positioning of instruments/tools, automated movement along a trajectory according to preoperative planning, remote controlled teleoperation, and the application of forces and movement patterns for rehabilitation purposes. The first projects in the field of telemanipulation began in the 1990s [2] These master-slave-systems commonly consisted of a robotic manipulator and an input device from which the robot is remotely controlled. Such teleoperation systems are shown to considerably improve the performance on the surgeon’s side by reducing tremor, scaling movements and providing supplementary degrees of freedom (DOF) in the situs [3]. The ergonomic working posture and the intuitive use of surgical instruments, without fulcrum effects, is shown to benefit the surgeon’s work and improve surgical outcomes [3]
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