Miniature Surgical Robots

Lee Redden

5-28-2010

CS327A Mini-Symposium

Outline

1. Three Types of Surgeries

2. Problems with Miniature Robots

3. Problems with Miniature Surgical Robots

4. Examples of NOTES robots

5. Market Feasibility

6. Questions

Miniature Surgical Robots 2

Minimally Invasive Surgery(MIS)

Traditional Surgery

Miniature Surgical Robots 3

Natural Orifice Translumenal Endoscopic Surgery

(NOTES)

The Cobra triangulating scope

Miniature Surgical Robots 4

Problems with Miniature Robots

• They must be small (most of the other problems come from this)

• Use small motors, no torque, no power

• Wireless? (Supply own power)

• Create locomotion, perform

surgery

SIZE

SPEED STRENGTH

Miniature Surgical Robots 5

One Peritoneal Cavity Surgical Solution

Miniature Surgical Robots 6

Camera not restricted to a

port

Miniature Surgical Robots 7

Problems with Miniature Surgical Robots

• Loss of access, manipulation, palpation, vision

• Sterilization

• Stabilization

• FDA approval, electronics inside patients

• Malfunctions, asimov’s three rules

• How do you control the robots

• Surgeon Training

Miniature Surgical Robots 8

Peritoneal CavityDriving Robots

Miniature Surgical Robots 9

How Should Micro-bots Swim? How Sould Micro-bots

Assemble?

How Should Micro-bots Walk?

Miniature Surgical Robots 10

Versatile Endoscopic Capsule for gastrointestinal TumOr Recognition

and therapy (VECTOR)Pills for GI Track Inspection

Wireless Capsule Endoscopy

Miniature Surgical Robots 11

Market Feasibility

• Minimal Invasive Surgery = Minimal Access

• Significantly longer surgeries

• Less morbidity, less recovery time

• Small portable

(take to space, war zone)

• Cheaper

• Procedure dependent device

Miniature Surgical Robots 12

CitationsPatronik, N. A., Zenati, M. A., and Riviere, C. N. 2005. Preliminary evaluation of a mobile robotic device for

navigation and intervention on the beating heart. Computer Aided Surgery, 10(4):225-232.Lee L Swanström, MD, FACS, Yashodan Khajanchee, MD, Maher A Abbas, MD, FACS, FASCRS. 2008. Natural

Orifice Transluminal Endoscopic Surgery: The Future of Gastrointestinal Surgery. The Permanente Journal. Volume 12 No. 2

Lehman, A., Wood, N., Dumpert, J., Oleynikov, D., Farritor, S., "Dexterous Miniature In Vivo Robots for NOTES," IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechanics, Scottsdale, AZ, October 2008.

Platt, S., Hawks, J., Rentschler, M., Redden, L., Farritor, S., Oleynikov, D.,"Modular Wireless Wheeled In Vivo Surgical Robots," Proceedings of the 2008 ASME International Design Engineering Technical ConferencesComputers and Information in Engineering Conference (IDETC/CIE 2008), August 3-6, 2008, Brooklyn, New York.

Lehman, A., Wood, N., Dumpert, J., Oleynikov, D., Farritor, S., "Robotic Natural Orifice TranslumenalEndoscopic Surgery," IEEE International Conference on Robotics and Automation, pp. 2969-2974, Pasadena, CA, May 2008.

Martin Probst, Christoph Hürzeler, Ruedi Borer, and Bradley J. Nelson. 2009. A microassembly system for the flexible assembly of hybrid robotic mems devices. International Journal of Optomechatronics

www.vector-project.com. 5-27-10Richard Satava. SLS Annual Meeting, Endo Expo 2009. Boston, MA. September 9, 2009 Future of Surgery and

the Future of Surgeons {MS PowerPoint, 28 MB}M. Probst, C. Hürzeler, R. Borer, B. J. Nelson, "A Microassembly System for the Flexible Assembly of Hybrid

robotic Mems Devices", International Journal of Optomechatronics, Vol. 3, No. 2, April 2009, p. 69--90.L. Zhang, J. J. Abbott, L. X. Dong, K. E. Peyer, B. E. Kratochvil, H. X. Zhang, C. Bergeles, B. J. Nelson,

"Characterizing the Swimming Properties of Artificial Bacterial Flagella", Nano Letters, Vol. 9, No. 10, October 2009, pp. 3663-3667 (doi: 10.1021/nl901869j).

Z. Nagy, K. Harada, M. Flückiger, E. Susilo, I. K. Kaliakatsos, A. Menciassi, E. Hawkes, J. J. Abbott, P. Dario, B. J. Nelson, "Assembling Reconfigurable Endoluminal Surgical Systems: Opportunities and Challenges", International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 1, November 2009, pp. 3-16.

http://rise.csumb.edu/Students/human_organs.jpg

Miniature Surgical Robots 13

Miniature Surgical Robots 14

Miniature Surgical Robots 15