UID:
almahu_9949982598802882
Umfang:
1 online resource (1307 pages)
Ausgabe:
First edition.
ISBN:
9780443132728
,
0443132720
Inhalt:
The 'Handbook of Robotic Surgery' provides an in-depth exploration of the technological advancements, applications, and future directions in the field of robotic surgery. Edited by Stenio de Cassio Zequi and Hongliang Ren, the book covers topics such as the history and evolution of surgical robots, enabling technologies, technical aspects of various surgical procedures, and the integration of artificial intelligence in surgery. It discusses the kinematic concepts of minimally invasive surgery, the use of bioinspired and compliant manipulators, haptic feedback, and magnetic tracking technologies. The book also delves into ethical considerations, training and education for robotic surgeons, and the importance of mentorship and leadership in surgical teams. This comprehensive guide is intended for practitioners, researchers, and students in the medical and engineering fields, aiming to enhance their understanding and application of robotic technologies in surgery.
Anmerkung:
Intro -- Handbook of Robotic Surgery -- Copyright -- Dedication -- Contents -- Contributors -- Foreword 1 -- Foreword 2 -- Preface -- Acknowledgments -- Section I: Introduction, technology basics, evolution and next frontiers of surgical robots -- Chapter 1: Introduction -- Introduction -- References -- Chapter 2: History of robotic surgery: Trends in autonomy levels and enabling technologies -- Introduction -- Early stages: Telemanipulation and the birth of robotic surgery -- Advancements in autonomy levels -- Level 1 autonomy: Enhanced telemanipulation -- Level 2 autonomy: Surgical task-level assistance -- Level 3 autonomy: Collaborative surgery -- Level 4 autonomy: Supervised autonomy -- Level 5 autonomy: Full autonomy -- Enabling technologies -- Robotics and mechatronics -- Imaging technologies -- Sensing technologies -- Artificial intelligence and machine learning -- Current applications and future prospects -- Clinical applications of robotic surgery -- Challenges and future directions -- Future scenario -- Key points -- References -- Chapter 3: Needle inserts into soft tissue: Basic technical aspects -- Basic procedure for needle insertion -- Phase 1: Surface deformation -- Phase 2: Needle tip insertion -- Phase 3: Tip and shaft insertion -- Needle insertion mechanical analysis -- Stiffness-friction-cutting force modeling -- Multilayer needle insertion force modeling -- Effect factors of insertion force -- Needle characteristics -- Tissue properties -- Needle insertion method -- Rotation-assisted needle insertion -- Vibration-assisted needle insertion -- Hybrid control of rotation and vibration -- Other needle insertion force control methods -- Future scenario -- Key points -- Acknowledgments -- References -- Chapter 4: Kinematic concepts in minimally invasive surgical flexible robotic manipulators: State of the art -- Introduction.
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Kinematic frameworks for MIS flexible manipulators -- Discrete-jointed continuum manipulators -- Rigid-link model -- PCC -- Cosserat rod -- Shape functions -- Jacobian approximation -- Finite element -- Learning -- Soft continuum manipulators -- Pseudo-rigid-body -- PCC -- Cosserat rod -- Others -- Kinematics-based applications for MIS flexible robots -- Workspace optimization -- Motion constraints -- Conclusions -- Future scenario -- Key points -- Acknowledgment -- References -- Chapter 5: Bioinspired flexible and compliant robotic manipulators for surgery -- Introduction -- Discrete compliant manipulators -- Continuum compliant manipulators -- Notch manipulators -- Backbone manipulators -- Compliant tools -- Future scenario -- Key points -- Acknowledgments -- References -- Chapter 6: Haptic feedback technology in robot-assisted surgery -- Introduction -- Surgical haptic feedback interfaces -- Sensing types -- Perception types -- Current force haptic interfaces in research stage -- Motor -- Cable-driven -- Pneumatic -- Magneto-rheological fluid -- Granular jamming -- Piezoelectric (PZT) actuator -- Other forms -- Current commercial force haptic interfaces -- Current issues with surgical force haptic feedback technology -- Conclusions -- Future scenario -- Key points -- Acknowledgments -- References -- Chapter 7: Robust magnetic tracking and navigation in robotic surgery -- Introduction -- The role of tracking and navigation in robotic surgery -- Surgical instrument tracking technologies -- Significance of robust tracking and navigation -- Fundamentals of permanent magnet tracking system -- Mathematical model and tracking principle -- Analysis of robust magnetic tracking system -- Existing methods for improving the robustness of magnetic tracking -- Antiinterference -- Extending tracking range -- Overcoming the dependence on initial guesses.
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Discussion and future research trends -- Further improving the robustness of mono-modal PMTS -- Tightly coupled fusion of multimodal tracking systems -- Morphological perception -- Novel application research -- Conclusion -- Future scenario -- Key points -- Acknowledgments -- References -- Chapter 8: 3D reconstruction of deformable tissues in robotic surgery -- Introduction -- Deformable tissue simulation -- NeRF-based reconstruction -- Depth estimation-based reconstruction -- Deformable tissue simulation -- Heuristic approach -- Continuum approach -- Neural rendering for reconstructing natural scenes -- Neural rendering for reconstructing deformable tissues in robotic surgery -- Stereo 3D reconstruction of deformable tissues -- Surface reconstruction of deformable tissues -- Fast 4D reconstruction of deformable tissues -- Illumination modeling -- Depth estimation -- Challenge and future work -- Deformable tissue simulation -- NeRF-based reconstruction -- Depth estimation -- Conclusion -- Future scenario -- Key points -- Acknowledgments -- References -- Chapter 9: Deep reinforcement learning in surgical robotics: Enhancing the automation level -- Introduction -- Basics of reinforcement learning -- Markov decision process -- Deep reinforcement learning in surgical robotics -- Preoperative procedure -- Standard scan plane navigation -- Pose and force control -- Intrabody procedure -- Tensioning -- Suturing -- Retraction -- Percutaneous procedure -- Needle insertion -- Catheterization -- Future scenario -- Conclusion -- Key points -- References -- Chapter 10: Ultrasound guidance and robotic procedures: Actual and future intelligence -- Introduction -- US technologies in evolution -- Diagnostic US -- Functional US -- Interventional US -- Therapeutic US -- US guidance in robotic surgery -- Tele-operated -- Autonomous -- Trends of future directions.
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Discussion and challenges -- Robotic-assisted surgery -- Percutaneous surgery -- Endoscopic US -- Multimodel perception -- Conclusion -- Future Scenario -- Key Points -- References -- Chapter 11: Robotic staplers -- Introduction -- Advantages of robotic stapler -- Use of staplers among different specialties -- Endowrist -- Sureform -- Angulation -- Technical aspects of using robotic staplers -- Adequate port placements -- Creating a sufficient space for robotic stapler placement -- Using a stapler guide -- Simulate stapler placement before engaging the anatomic structure -- Safety of robotic stapler -- Future scenario -- Key points -- References -- Chapter 12: Actual competitive and new models of surgical robots -- Introduction -- Background -- Robotic platforms -- Abdominal and thoracic surgery -- Orthopedics -- Neurosurgical -- Vascular -- Ophthalmology -- Endoscopy and NOTES (Natural Orifice Transluminal Endoscopic Surgery) -- Interventional radiology -- Microsurgery -- Upcoming platforms -- Future scenario -- Conclusions -- Key points -- References -- Chapter 13: Enabling intelligent procedures: Endoscopy dataset collection trends and pipeline -- Introduction -- Related work -- Dataset survey -- 3D reconstruction approach survey -- GI-Replay dataset -- Equipment -- Data flow -- Depth ground truth -- Depth map computation -- Anchor point refinement -- Dataset architecture -- GI-Replay 3D reconstruction -- From the Traditional NeRF -- Depth constraint Ldepth -- Surface normal constraint Lnorm -- Point cloud constraint Lpc -- 3D reconstruction results -- Depth prediction -- Network training and evaluation -- Conclusions -- Future scenario -- Key points -- Acknowledgments -- References -- Chapter 14: Pathway of robotic learning to perform autonomous sewing -- Introduction -- Autonomous sewing robots.
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Application of autonomous surgical robot in sewing -- Development of autonomous sewing robot -- Integration of iterative learning control and autonomous sewing robot -- Characteristics of autonomous sewing surgical robot -- An overview of iterative learning control -- Integration of ILC and autonomous sewing -- Conclusion -- Future scenario -- Key points -- Acknowledgments -- References -- Chapter 15: Telesurgery applications, current status, and future perspectives in technologies and ethics -- Introduction -- Humanitarian implications of telesurgery -- Enhanced access to specialized care in regions with limited or nonexistent specialized surgical experience -- Equity in healthcare delivery -- Knowledge transfer and skill enhancement -- Disaster response and humanitarian aid -- Maintaining constant surgical routine -- Historical landmarks -- Telesurgery in practice: Technical aspects and case studies -- Telementoring in robotic surgery -- Ethical challenges -- Future scenario -- Directives and advancements -- Conclusion -- Key points -- References -- Chapter 16: Robotic motion planning in surgery -- Introduction -- Path planning -- CD method -- RM method -- APF method -- AI method -- Motion planning -- The inverse kinematics (IK) method -- Geometry method -- AI method -- Migration method -- Future scenario -- Key points -- Acknowledgment -- References -- Chapter 17: Artificial intelligence to understand robotic surgery scenes -- Introduction -- Semantic segmentation of surgical scenes -- Surgical action recognition -- Surgical visual question answering -- Future scenario -- Key points -- Acknowledgment -- References -- Chapter 18: Robot assisted prostate biopsy -- Introduction -- Robotic technologies in urology -- Robotic-assisted prostate biopsy technique -- Evolution and current state of arts for robot-assisted prostate biopsies -- MrBot.
,
BioXbot.
Weitere Ausg.:
ISBN 9780443132711
Weitere Ausg.:
ISBN 0443132712
Sprache:
Englisch
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