TY - JOUR
T1 - Surgical and interventional robotics
T2 - Part II
AU - Fichtinger, Gabor
AU - Kazanzides, Peter
AU - Okamura, Allison M.
AU - Hager, Gregory D.
AU - Whitcomb, Louis L.
AU - Taylor, Russell H.
N1 - Funding Information:
The authors gratefully acknowledge the National Science Foundation for supporting our work in this field through the Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST ERC) Grant NSF EEC 9731748. Related projects have also been supported by Johns Hopkins University, the National Institutes of Health, the Whitaker Foundation, the Department of Defense, and industrial affiliates of the CISST ERC.
PY - 2008
Y1 - 2008
N2 - A large family of medical interventions can be represented by a model that is analogous to industrial manufacturing systems. If the right information is available, they can be planned ahead of time and executed in a reasonably predictable manner. We, therefore, have classified them as surgical computer-aided design (CAD)-computer-aided manufacturing (CAM) systems, having three key concepts: 1) surgical CAD, in which medical images, anatomical atlases, and other information are combined preoperatively to model an individual patient; the computer then assists the surgeon in planning and optimizing an appropriate intervention 2) surgical CAM, in which real-time medical images and other sensor data are used to register the preoperative plan to the actual patient and the model and the plan are updated throughout the procedure; the physician performs the actual surgical procedure with the assistance of the computer, using appropriate technology (robotics, mechatronics, optical guidance, perceptual guidance, etc.) for the intervention 3) surgical total quality management (TQM), which reflects the important role that the computer can play in reducing surgical errors and in promoting more consistent and improved execution of procedures. Successful procedures are also included in procedural statistical atlases and fed back into the system for pre- and intraoperative planning. This article, primarily concerned with robotics and mechatronics, concentrates on the surgical action (surgical CAM), although for the sake of completeness, major issues in surgical planning (surgical CAD) and postoperative data analysis (surgical TQM) are also included. This article is the second installment of a three-part series on surgical and interventional robotics.
AB - A large family of medical interventions can be represented by a model that is analogous to industrial manufacturing systems. If the right information is available, they can be planned ahead of time and executed in a reasonably predictable manner. We, therefore, have classified them as surgical computer-aided design (CAD)-computer-aided manufacturing (CAM) systems, having three key concepts: 1) surgical CAD, in which medical images, anatomical atlases, and other information are combined preoperatively to model an individual patient; the computer then assists the surgeon in planning and optimizing an appropriate intervention 2) surgical CAM, in which real-time medical images and other sensor data are used to register the preoperative plan to the actual patient and the model and the plan are updated throughout the procedure; the physician performs the actual surgical procedure with the assistance of the computer, using appropriate technology (robotics, mechatronics, optical guidance, perceptual guidance, etc.) for the intervention 3) surgical total quality management (TQM), which reflects the important role that the computer can play in reducing surgical errors and in promoting more consistent and improved execution of procedures. Successful procedures are also included in procedural statistical atlases and fed back into the system for pre- and intraoperative planning. This article, primarily concerned with robotics and mechatronics, concentrates on the surgical action (surgical CAM), although for the sake of completeness, major issues in surgical planning (surgical CAD) and postoperative data analysis (surgical TQM) are also included. This article is the second installment of a three-part series on surgical and interventional robotics.
KW - Image-guided surgery
KW - Imaging
KW - Magnetic resonance imaging
KW - Medical robotics
KW - Needles
KW - Planning
KW - Robot kinematics
KW - Robots
KW - Surgery
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U2 - 10.1109/MRA.2008.927971
DO - 10.1109/MRA.2008.927971
M3 - Article
AN - SCOPUS:52949142231
SN - 1070-9932
VL - 15
SP - 94
EP - 102
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 3
ER -