Technical and Functional Validation of a Teleoperated Multirobots Platform for Minimally Invasive Surgery

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 -