Medical Robotics (eBook)

Jocelyne Troccaz is Research Director, CNRS Equipe GMCAO (Gestes Médico-Chirurgicaux Assistés par Ordinateur) du laboratoire TIMC (Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications de Grenoble)-université Joseph Fourier, Grenoble, France.

Introduction xi

Chapter 1. Characteristics and State of the Art 1

Etienne DOMBRE, Michel DE MATHELIN and Jocelyne TROCCAZ

1.1 Introduction 1

1.2. State of the art 7

1.3. Conclusion 42

1.4. Bibliography 42

Chapter 2. Medical Robotics in the Service of the Patient
55

Alexandre MOREAU-GAUDRY, Philippe CINQUIN

2.1. Introduction 55

2.2. A cycle of medical service growth 58

2.3. A case study: the ViKY robotic endoscope support system
64

2.4. Conclusion 67

2.5. Bibliography 67

Chapter 3. Inter-operative Sensors and Registration
69

Jocelyne TROCCAZ

3.1. Introduction 69

3.2. Intra-operative sensors 72

3.3. Principles of registration 76

3.4. Case studies 87

3.5. Discussion and conclusion 96

3.6. Bibliography 97

Chapter 4. Augmented Reality 101

Stéphane NICOLAU, Luc SOLER, Jacques MARESCAUX

4.1. Introduction101

4.2. 3D modeling of abdominal structures and pathological
structures 104

4.3. 3D visualization system for planning 107

4.4. Interactive AR 108

4.5. Automatic AR 110

4.6. Taking distortions into account 122

4.7. Case Study 124

4.8. Conclusions 129

4.9. Bibliography 130

Chapter 5. Design of Medical Robots 141

Etienne DOMBRE, Philippe POIGNET and François PIERROT

5.1. Introduction 141

5.2. From the characterization of gestures to the design of
robots 145

5.3. Design methodologies 157

5.4. Technological choices 165

5.5. Security 167

5.6. Conclusion 171

5.7. Bibliography 172

Chapter 6. Vision-based Control 177

Jacques GANGLOFF, Florent NAGEOTTE and Philippe POIGNET

6.1. Introduction 177

6.2. Sensors 183

6.3. Acquisition of the measurement 193

6.4. Control 216

6.5. Perspectives 224

6.6. Bibliography 225

Chapter 7. Interaction Modeling and Force Control
233

Philippe POIGNET and Bernard BAYLE

7.1. Modeling interactions during medico-surgical procedures
233

7.2. Force control 243

7.3. Force control strategies 244

7.4. Conclusion 263

7.5. Bibliography 263

Chapter 8. Tele-manipulation 269

Bernard BAYLE and Laurent BARBÉ

8.1. Introduction 269

8.2. Tele-manipulation and medical practices 271

8.3. Tele-manipulation with force feedback 278

8.4. Bibliography 298

Chapter 9. Comanipulation 303

Guillaume MOREL, Jérôme SZEWCZYK and Marie-Aude
VITRANI

9.1. Introduction 303

9.2. General principles of comanipulation 309

9.3. Serial comanipulation: intelligent active instrumentation
316

9.4. Parallel comanipulation 331

9.5. A human in the loop 343

9.6. Bibliography 346

Chapter 10. Towards Intracorporeal Robotics 351

Etienne DOMBRE, Nicolas CHAILLET and Michel DE MATHELIN

10.1. Introduction 351

10.2. Mini-manipulators/tele-operated instrument holders 352

10.3. Robotized colonoscopes and autonomous capsules 357

10.4. Active catheters 362

10.5. Evolution of surgical robotics 366

10.6. Additional information 386

10.7. Bibliography 388

Conclusion 397

Notations 399

Medical Glossary 401

List of Authors 407

Index 409