Transcript Document

School of Biomedical Engineering, Science & Health Systems
MEDICAL ROBOTICS RESEARCH
Robotic Hepatic (Liver) Tumor Resection
Minimally invasive surgical procedures using long instruments deprive surgeons of depth perception,
dexterity, sense of touch, and excellent hand eye coordination, which they are so accustomed to in open
procedures. Such losses in dexterity, perception, sense, and coordination present excellent theoretical,
experimental, and developmental opportunities for engineers to develop “smarter” and efficient systems
for use in minimally invasive surgery. This development will consequently lead to better patient care,
reduced morbidity, shorter hospital stays, reduced trauma, faster recovery times, and lower health care
costs. Cancer of the liver is the second leading cause of death in the United States and worldwide (next to
lung cancer), and it is rapidly coming close to being one of the leading causes of death.
Surgeon
Surgical Assistant
Surgical
Resident
Tumor
Tactile
Sensor
Mitsubishi Laparoscopic tool
PA-10 Robot Arm
Surgeon
Physical
coupling
Robot
Parenchyma
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Robotic Coronary Artery Bypass Graft (CABG)
Cardiovascular disease is one of the leading causes of
death in the United States and also a major disease
worldwide with over 700,000 coronary artery bypass
graft (CABG) procedures performed annually all around
the world, of which 350,000 are performed in the United
States. The suction or compressive force of the
mechanical stabilizers used in a CABG procedure to
stabilize the localized area of the heart is significant to
cause irreversible local damage in some cases, by
traumatizing the underlying microcirculation. The primary
goal of this research is to develop the enabling science
and technology for performing a coronary artery bypass
graft procedure on a beating heart without any
mechanical stabilizers or cardiopulmonary bypass
(CPB). The robotic system under development will be
capable of tracking a non-stationary target and provide
visual and haptic feedback to the surgeon.
Faculty/Contact: J. Desai, Ph.D, Drexel University.
E-mail: [email protected]
WWW.BIOMED.DREXEL.EDU/ResearchPortfolio/
V 1.0 SD [020328]
School of Biomedical Engineering, Science & Health Systems
ROBOTIC HEPATIC (LIVER) TUMOR RESECTION
Minimally invasive surgical procedures using long instruments deprive surgeons of depth
perception, dexterity, sense of touch, and excellent hand eye coordination, which they are so
accustomed to in open procedures. Such losses in dexterity, perception, sense, and
coordination present excellent theoretical, experimental, and developmental opportunities for
engineers to develop “smarter” and efficient systems for use in minimally invasive surgery.
This development will consequently lead to better patient care, reduced morbidity, shorter
hospital stays, reduced trauma, faster recovery times, and lower health care costs.
Cancer of the liver is the second leading cause of death in the United States and worldwide
(next to lung cancer), and it is rapidly coming close to being one of the leading causes of
death. Each year, approximately 28,000 cases are diagnosed and almost as many patients
die of advanced disease. The fundamental questions in haptics and vision answered through
laparoscopic hepatic tumor resection will benefit other minimally invasive procedures
performed in the following: a) kidney (laparoscopic renal resection); b) pancreas; and c)
adrenals. Another advantage and purpose of research in this area is to develop an excellent
learning tool for surgeons before they perform procedures on humans. The figure below
shows a schematic of a surgeon and a robot working in conjunction during a liver tumor
resection procedure.
Surgeon
Surgical Assistant
Surgical
Resident
Tumor
Surgeon
Tactile
Sensor
Mitsubishi Laparoscopic tool
PA-10 Robot Arm
Physical
coupling
Robot
Parenchyma
Schematic of the liver tumor resection procedure using robotic assistance.
Faculty/Contact: J. Desai, Ph.D., Drexel University.
E-mail: [email protected]
Collaborating Researchers: W. Meyers, Ph.D., MCPHU; A. Castellanos, Ph.D., MCPHU; W. Wang, Ph.D., MCPHU.
Laboratories: The Program for Robotics, Intelligence Sensing, & Mechatronics (PRISM) Laboratory at Drexel University.
Funding: NSF Career Award
WWW.BIOMED.DREXEL.EDU/ResearchPortfolio/
V 1.0 SD [020328]
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School of Biomedical Engineering, Science & Health Systems
ROBOTIC CORONARY ARTERY BYPASS GRAFT (CABG)
Cardiovascular disease is one of the leading causes of death in the United States, and is also
a major disease worldwide with over 700,000 coronary artery bypass graft (CABG) procedures
performed annually all around the world, of which 350,000 are performed in the United States.
The suction or compressive force of the mechanical stabilizers used in a CABG procedure to
stabilize the localized area of the heart is significant enough to cause irreversible local
damage in some cases by traumatizing the underlying microcirculation. The primary goal of
this research is to develop the enabling science and technology for performing a coronary
artery bypass graft procedure on a beating heart without any mechanical stabilizers or
cardiopulmonary bypass (CPB).
The robotic system under development will be capable of tracking a non-stationary target and
provide visual and haptic feedback to the surgeon. This research will thus augment the
capabilities of the surgeon while he or she is performing a CABG procedure on a beating
heart. The CABG procedure on a beating heart using the robotic system brings forth several
research problems, such as visual servoing on a deformable target, design and development
of a kinematic mechanism for suturing on moving targets, and providing force feedback during
the procedure to the surgeon. In the figure below, we are monitoring the deformation of a
membrane in real-time through a pair of stereo cameras and haptically interacting with the
membrane based on the forces computed using the material properties of the membrane and
the deformation computed by the vision system.
Haptic interaction with the deformable membrane based on deformation
observed through the vision system.
Faculty/Contact: J. Desai, Ph.D., Drexel University.
E-mail: [email protected]
Collaborating Researchers: Y. Kresh, Ph.D., Director of Cardiovascular Biophysics & Computing, MCPHU; A. Wechsler, Ph.D.,
Chair of Cardiothoracic Surgery, MCPHU.
Laboratories: The Program for Robotics, Intelligence Sensing, & Mechatronics (PRISM) Laboratory at Drexel University.
Funding: American Heart Association
WWW.BIOMED.DREXEL.EDU/ResearchPortfolio/
V 1.0 SD [020328]
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