Mechatronics and Autonomy in Minimally Invasive Robotic Surgery

摘要

Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can be reached with long instruments only. To overcome the drawbacks of manual MIS minimally invasive robotic surgery (MIRS) plays an important role. This paper takes a close look at the requirements on a MIRS system and how these can be met. This includes a discussion of the mechatronic main components robotic arm and console including appropriate control laws and highly integrated joint units. The development of actuated and sensorized instruments which help to increase the surgeon’s immersion and dexterity is described. Intraoperative autonomy functions such as automatic camera guidance and motion compensation release the surgeon from tiring and undesired tasks.