TY - JOUR
T1 - Technical and Functional Validation of a Teleoperated Multirobots Platform for Minimally Invasive Surgery
AU - Leporini, Alice
AU - Oleari, Elettra
AU - Landolfo, Carmela
AU - Sanna, Alberto
AU - Larcher, Alessandro
AU - Gandaglia, Giorgio
AU - Fossati, Nicola
AU - Muttin, Fabio
AU - Capitanio, Umberto
AU - Montorsi, Francesco
AU - Salonia, Andrea
AU - Minelli, Marco
AU - Ferraguti, Federica
AU - Secchi, Cristian
AU - Farsoni, Saverio
AU - Sozzi, Alessio
AU - Bonfe, Marcello
AU - Sayols, Narcis
AU - Hernansanz, Albert
AU - Casals, Alicia
AU - Hertle, Sabine
AU - Cuzzolin, Fabio
AU - Dennison, Andrew
AU - Melzer, Andreas
AU - Kronreif, Gernot
AU - Siracusano, Salvatore
AU - Falezza, Fabio
AU - Setti, Francesco
AU - Muradore, Riccardo
PY - 2020/5
Y1 - 2020/5
N2 - Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons dexterity and skills. In the international research panorama of new prototypes for surgical tele-operated systems, a new master-slave robotic platform has been developed within the European funded project Smart Autonomous Robotic Assistant Surgeon (SARAS). The SARAS Multi-Robots Surgery (MRS) system is conceived to be tele-operated by an assistant surgeon during R-MIS. In this work, we will present the SARAS MRS platform validation protocol, framed in order to assess: (i) its technical performances in purely dexterity exercises, i.e. deriving from the motion-related parameters of the end effectors, to be compared with those of a reference da Vinci® system, and (ii) its functional performances, i.e. the level of accomplishment of surgical related tasks. The results obtained show a prototype able to put the users in the condition of accomplishing the tasks requested (both dexterity- and surgical-related), even with reasonably lower performances respect to the industrial standard. The main aspects on which further improvements are needed result to be the stability of the end effectors, the depth perception and the vision systems, to be enriched with dedicated virtual fixtures.
AB - Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons dexterity and skills. In the international research panorama of new prototypes for surgical tele-operated systems, a new master-slave robotic platform has been developed within the European funded project Smart Autonomous Robotic Assistant Surgeon (SARAS). The SARAS Multi-Robots Surgery (MRS) system is conceived to be tele-operated by an assistant surgeon during R-MIS. In this work, we will present the SARAS MRS platform validation protocol, framed in order to assess: (i) its technical performances in purely dexterity exercises, i.e. deriving from the motion-related parameters of the end effectors, to be compared with those of a reference da Vinci® system, and (ii) its functional performances, i.e. the level of accomplishment of surgical related tasks. The results obtained show a prototype able to put the users in the condition of accomplishing the tasks requested (both dexterity- and surgical-related), even with reasonably lower performances respect to the industrial standard. The main aspects on which further improvements are needed result to be the stability of the end effectors, the depth perception and the vision systems, to be enriched with dedicated virtual fixtures.
KW - Validation protocol
KW - tele-operated surgical robotic system
KW - robotic end effector task metrics
KW - funcitonal evaluation
KW - surgical-related tasks
U2 - 10.1109/TMRB.2020.2990286
DO - 10.1109/TMRB.2020.2990286
M3 - Article
SN - 2576-3202
VL - 2
SP - 148
EP - 156
JO - IEEE Transactions on Medical Robotics and Bionics
JF - IEEE Transactions on Medical Robotics and Bionics
IS - 2
ER -