MiroSurge

MiroSurge[1] is a presently prototypic robotic system (as of May 2012) designed mainly for research[2][3][4] in minimally invasive telesurgery. In the described configuration, the system is designed according to the master slave principle and enables the operator to remotely control minimally invasive surgical instruments including force/torque feedback. The scenario is developed at the Institute of Robotics and Mechatronics within the German Aerospace Center (DLR).

The system consists of

  • Three to five MIRO robot arms at the operation table,
  • Minimally invasive instruments (MICA),
  • a HD Stereo endoscope,
  • surgical workstation with two force/torque reflecting input devices and stereo vision, and
  • a planning suite for the robotic setup.

Besides the semi-autonomous motion compensation,[5] the system exclusively is a telemanipulator at any time and the surgeon at the workstation has full control of the surgical instruments. To change instruments or to introduce the robot setup, and for safety reasons a surgical assistant is present in the operating room (OR).

  1. ^ Hagn, Ulrich; Konietschke, R.; Tobergte, A.; Nickl, M.; Jörg, S.; Kuebler, B.; Passig, G.; Gröger, M.; Fröhlich, F.; Seibold, U.; Le-Tien, L.; Albu-Schäffer, A.; Nothelfer, A.; Hacker, F.; Grebenstein, M.; Hirzinger, G. (2010). "The DLR MiroSurge: a versatile system for research in endoscopic telesurgery" (PDF). International Journal of Computer Assisted Radiology and Surgery. 5 (2): 183–193. doi:10.1007/s11548-009-0372-4. PMID 20033517. S2CID 10427995.
  2. ^ "MiroSurge". TUM Miti. Archived from the original on 2012-09-03. Retrieved 2012-05-04.
  3. ^ "Medical Robotics Research". COMPAMED. Retrieved 2012-05-04.
  4. ^ "SAFROS- SAFety in RObotic Surgery". LSRO / SAFROS. Retrieved 2012-05-04.
  5. ^ Groeger, Martin; Arbter, K.; Hirzinger, G. (2008). "Motion Tracking for Minimally Invasive Robotic Surgery". Medical Robotics: 117–148.