Medical Robotics

Title Page......Page 2
Copyright
......Page 3
Contents......Page 4
Introduction......Page 10
1.1.1. Characteristics of medical robotics......Page 14
1.1.2. Potential advantages of using a robot in a medical procedure......Page 18
1.2. State of the art......Page 20
1.2.1. Surgery of the head and neck......Page 21
1.2.2. Orthopedic surgery......Page 26
1.2.3. Mini-invasive or laparoscopic surgery......Page 30
1.2.4. Interventional radiology and percutaneous procedures
......Page 36
1.2.5.Remote ultrasound
......Page 42
1.2.6. Radiotherapy and radiology
......Page 46
1.2.7. Other applications......Page 52
1.4. Bibliography......Page 55
2.1.1. Medical robotics: a field in full development......Page 67
2.1.2. How and why has there been such development?......Page 68
2.1.3. Medical service: a complex notion......Page 69
2.2.1. The actors
......Page 70
2.2.2. A model for the development of the medical service
......Page 73
2.2.3. Development diagram......Page 75
2.3.2. ViKY and the progression of medical service......Page 76
2.3.3. Relevance of the evaluation of the medical service......Page 78
2.5. Bibliography......Page 79
3.1.1. Summary of the context and the problem......Page 81
3.1.2. Notions of registration, calibration and tracking
......Page 82
3.2.1. Imaging sensors
......Page 84
3.2.2. Position sensors......Page 86
3.2.3. Surface sensors......Page 87
3.3.1. Notations and definitions......Page 88
3.3.2. Nature of the transformation......Page 89
3.3.3. Matched information......Page 90
3.3.4. Similarity metrics......Page 91
3.3.5. 3D/3D rigid registration......Page 96
3.3.6. Open questions......Page 98
3.4.1. Case no. 1 interventional radiology......Page 99
3.4.2. Case no. 2......Page 100
3.4.3. Case no. 3 Velocityy......Page 102
3.4.4. Case no. 4......Page 104
3.5. Discussion and conclusion......Page 108
3.6. Bibliography......Page 109
4.1. Introduction......Page 112
4.2. 3D modeling of abdominal structures and pathological structures......Page 115
4.3. 3D visualization system for planning......Page 118
4.4.2. An example application......Page 119
4.5. Automatic AR......Page 121
4.5.1. Augmented reality with fixed cameras......Page 122
4.5.2. AR with a mobile camera
......Page 131
4.6. Taking distortions into account......Page 133
4.7.1. Percutaneous punctures......Page 135
4.7.2. Bronchoscopic Navigation
......Page 137
4.7.3. Neurosurgery
......Page 138
4.8. Conclusions......Page 140
4.9. Bibliography......Page 141
5.1. Introduction......Page 151
5.2.2. Kinematic and dynamic specifications
......Page 155
5.2.3. Kinematic choices
......Page 159
5.3. Design methodologies......Page 167
5.3.1. Concept selection
......Page 168
5.3.2. Optimization of design parameters
......Page 171
5.4.1. Actuators
......Page 175
5.4.2. Sensors
......Page 176
5.5.1. Introduction
......Page 177
5.5.3. Risks reduction in medical robotics
......Page 178
5.6. Conclusion......Page 181
5.7. Bibliography......Page 182
6.1. Introduction......Page 187
6.1.1. Configurations of the imaging device
......Page 188
6.1.2. Type of measurement
......Page 189
6.1.3. Type of control
......Page 191
6.2. Sensors......Page 193
6.2.1. Imaging devices
......Page 194
6.3. Acquisition of the measurement......Page 203
6.3.1. Acquisition of geometric primitives
......Page 204
6.3.2. Tracking of anatomical targets
......Page 212
6.3.3. Review of methods for image processing
......Page 224
6.4.1. Modeling the visual servoing loop
......Page 226
6.4.2. Online identification of the interaction matrix
......Page 231
6.4.3. Control laws
......Page 233
6.5. Perspectives......Page 234
6.6. Bibliography......Page 235
7.1.1. Introduction
......Page 243
7.1.2. Properties of tissues with small displacements
......Page 244
7.1.3. Non-viscoelastic models
......Page 247
7.1.4. Estimation of force models
......Page 248
7.1.5. Case study: needle-tissue interactions during a percutaneous intervention
......Page 249
7.2. Force control......Page 253
7.3.1. Implicit force control
......Page 254
7.3.2. Explicit force control
......Page 257
7.3.3. Stability
......Page 260
7.3.5. Application examples
......Page 261
7.5. Bibliography......Page 273
8.1.1. The limitations of autonomy
......Page 278
8.1.3. Tele-manipulation in the medical field: interest and applications
......Page 279
8.2.1. Background
......Page 280
8.2.2. Action and perception modalities
......Page 282
8.2.3. Technology
......Page 284
8.3.1. Introduction
......Page 287
8.3.2. Modeling master-slave tele-manipulators MST
......Page 288
8.3.3. Transparency and stability
......Page 290
8.3.4. Bilateral tele-operation control schemes
......Page 293
8.3.5. Improvement of existing techniques for medical issues
......Page 301
8.3.6. Example: tele-operated needle insertion in interventional radiology
......Page 303
8.4. Bibliography......Page 307
9.1.1.Tele-manipulate, but without the distance
......Page 311
9.1.2. Definitions
......Page 313
9.1.3. Features and applications in medical and surgical robotics
......Page 315
9.1.5. Contents
......Page 316
9.2.1. Serial comanipulation
......Page 317
9.2.2. Parallel comanipulation
......Page 321
9.3.1. Dexterous instruments for minimally-invasive surgery
......Page 324
9.3.2. Tremor filtering in microsurgery
......Page 330
9.3.3. Compensation of physiological movements
......Page 334
9.4.1. Comanipulation in transparent mode
......Page 339
9.4.2. Passive, active, static and dynamic guides
......Page 342
9.4.3. Increase the quality of the tactile perception
......Page 348
9.5. A human in the loop......Page 351
9.6. Bibliography......Page 354
10.1. Introduction......Page 359
10.2.1. Objectives......Page 360
10.2.2. General description
......Page 361
10.2.3. Challenges
......Page 364
10.3.1. Objectives
......Page 365
10.3.2. General description
......Page 366
10.3.3. Challenges
......Page 368
10.4.1. Objectives
......Page 370
10.4.3. Challenges
......Page 371
10.5.1. Towards more autonomous robots
......Page 374
10.5.2. Towards a much less invasive surgery
......Page 377
10.5.3. Towards the bio-nanorobotics
......Page 379
10.6.1. Preamble
......Page 394
10.6.3. Electroactive polymers
......Page 395
10.7. Bibliography......Page 396
Conclusion......Page 404
Conclusion......Page 406
Notations......Page 408
Medical Glossary......Page 410
List of Authors......Page 415
Index......Page 417