1. Robotic Surgery and Surgical Simulation
Roger Smith, PhD
Approved for Public Release.

2. 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.”

3. Early Robotic Surgical Systems
AESOP: Automated Endoscopic System for Optimal Positioning
ZEUS Telesurgery Robotic system

4. da Vinci Surgical Robot
Intuitive Surgical Inc.

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

6. Intuitive Surgical’s da Vinci Robot

7. 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

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

9. 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

10. 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
Researchers from Roswell Park Cancer Institute and State University of New York at Buffalo, developed a surgical simulator to help train physicians to operate the da Vinci robot. The RoSS Robotic Surgical Simulator has been turned into a product and commercialized by a spinoff called Simulated Surgical Systems of Williamsville, NY. Practicing physicians and students can train on common tasks like suturing and knot tying, and even perform complete procedures like radical prostatectomies and hysterectomies.
Features of the device:
Stand-alone surgical simulator that is independent of a surgical robot, vision cart Cost of operating the RoSS is minimal as no consumables or disposables are required The RoSS data management system allows performance analysis and measurement tools to objectively measure and record performance User does not require monitoring thus enabling maximum flexibility and opportunity for training Surgical procedures can be rehearsed New surgical procedure modules can be added to the RoSS RoSS does not require an operating room environment and can be set up in a location most advantageous to access and training needs RoSS has a monitor which allows a user or tutor to observe the procedure Comprehensive curriculum to train for motor, and cognitive skills required to operate surgical robot Suite of simulated surgical procedures for fellow or resident to follow, and recreate the surgical steps of an expert surgeon

11. RoSS

12. MIMIC dV-trainer

13. MIMIC dV Trainer

14. MIMIC Thread the Rings

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

16. 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

17. Presentation Available
Slides at:
Videos at:
Da Vinci Overview
Ross Simulator
MIMIC Simulator