Robotic Surgery and Surgical Simulation Roger Smith Ph

Robotic Surgery and Surgical Simulation Roger Smith, Ph. D roger. smith@flhosp. org Approved for Public Release.

Robotic Surgery • “Robot-assisted surgery was developed to overcome limitations of minimally invasive surgery, Instead of directly moving the instruments the surgeon uses a computer console to manipulate the instruments attached to multiple robot arms. The computer translates the surgeon’s movements, which are then carried out on the patient by the robot. ” 2

Early Robotic Surgical Systems AESOP: Automated Endoscopic System for Optimal Positioning ZEUS Telesurgery Robotic system http: //www. websurg. com/robotics/history. php

da Vinci Surgical Robot Intuitive Surgical Inc. http: //www. intuitivesurgical. com/index. aspx 4

Essential Robotic Components Stereo Vision Stereo Mag Endoscope 7 -DOF Instrument Ergonomic Station Diverse, Small Instruments Fine Control 5

Intuitive Surgical’s da Vinci Robot 6

World’s First Robotic Telesurgery • September 2001: Tele- chole (gall bladder removal) • Surgeon in New York, Patient in France • Round trip distance = 8, 700 miles • Round trip data time = 200 ms • Collaborators: Prof Jacques Marescaux, New York & European Institute of Telesurgery, Strasbourg • http: //news. bbc. co. uk/2/hi/science/nature/ 1552211. stm

Modeling the World Hard Objects tanks, helos, ships Human Body living tissue Fluid Dynamics water, air flow 8

Unique Surgical Simulation Challenges Geometry • Complex • Non-linear • Non-uniform Appearance • Layered • Translucent • Dense Dynamics • Nerve movement • Blood flow • Elasticity Center for Research in Education and Simulation Technologies, Rob Sweet, MD 9

Robotic Surgical Simulator • Stand-alone surgical simulator • No consumables or disposables required • Allows performance analysis and measurement • User does not require monitoring • New surgical procedure modules can be added • Does not require an operating room environment and can be set up in a location most advantageous to access and training needs • Monitor allows a user or tutor to observe the procedure • Comprehensive curriculum to train for motor, and cognitive skills 10

Ro. SS 11

MIMIC d. V-trainer 12

MIMIC d. V Trainer 13

MIMIC Thread the Rings 14

Components of a Surgical Simulator (Harders, 2008) Clinical Expertise Model Generation Vascular Structures Bleeding Simulation Tissue Parameters Tissue Cutting Organ Texturing Tissue Deformation Haptic Interface Collision Detection Fluid Simulation Immersive OR 15

Come Use the da Vinci Robot Intuitive Surgical and Florida Hospital bave brought a da Vinci robot to the I/ITSEC show floor Visit the National Center for Simulation Booth #913 16

Presentation Available Slides at: http: //www. modelbenders. com/papers Videos at: Da Vinci Overview http: //www. youtube. com/watch? v=ozyv 3 x 1 ivts Ross Simulator http: //www. youtube. com/watch? v=b. ICtj. MCe. Xm. Q MIMIC Simulator http: //www. mimic. ws/resources 17