Robotic microsurgery: corneal transplantation.

BACKGROUND: Robotic ocular microsurgery including corneal suturing has been proven to be feasible in porcine eyes. AIM: To determine whether or not bimanual teleoperated robotic penetrating keratoplasty (PK) can be performed in porcine and human eyes. METHODS: Three arms of the da Vinci surgical robot were loaded with a dual-channel video and two, 360 degrees -rotating, 8 mm, wrested-end effector instruments and placed over porcine eyes or over a human cadaver head. The surgeon remotely performed mechanical trephination, cardinal sutures, continuous 10.0 nylon sutures and suture adjustments on both eyes. The procedures were documented with still and video photography. RESULTS: Using the da Vinci robot, penetrating keratoplasty procedures were successfully performed on both porcine eyes and human eyes in natural anatomical conditions. The precise placement of continuous sutures was facilitated by the wrested-end forceps. Orbital rims and nose did not limit surgical motions. CONCLUSION: Teleoperated robotic penetrating keratoplasty is technically feasible in humans. Further studies are pending to implement the procedure with femtosecond laser and other automated steps.

A Multielement Tactile Feedback System for Robot-Assisted Minimally Invasive Surgery.

A multi-element tactile feedback (MTF) system has been developed to translate the force distribution, in magnitude and position, from 3times2 sensor arrays on surgical robotic end-effectors to the fingers via 3times2 balloon tactile displays. High detection accuracies from perceptual tests (> 96%) suggest that MTF may be an effective means to improve robotic control.

Tactile Feedback Induces Reduced Grasping Force in Robot-Assisted Surgery.

Robot-assisted minimally invasive surgery has gained widespread use over the past decade, but the technique is currently operated in the absence of haptic feedback during tissue manipulation. We have developed a complete tactile feedback system, consisting of a piezoresistive force sensor, control system, and pneumatic balloon tactile display, and mounted directly onto a da Vinci surgical robotic system. To evaluate the effect of tactile feedback on robotic manipulation, a group of novices (n = 16) and experts ( n = 4) were asked to perform three blocks of peg transfer tasks with the tactile feedback system in place. Force generated at the end-effectors was measured in all three blocks, but tactile feedback was active only during the middle block. All subjects used higher force when the feedback system was inactive. When active, subjects immediately used substantially less force and still maintained appropriate grip during the task. After the system was again turned off, grip force increased significantly to prefeedback levels. These results demonstrate that robotic manipulations without tactile feedback are done with more force than needed to grasp objects. Therefore, the addition of tactile feedback allows the surgeon to grasp with less force, and may improve control of the robotic system and handling of tissues and other objects.

Reflective terahertz imaging of porcine skin burns.

A reflective pulsed terahertz imaging system based on direct detection was developed and used to obtain high-resolution images of a porcine skin specimen with superficial partial-thickness (second-degree) burns. Images were also obtained of the sample through ten layers of dry medical (cotton) gauze with minimal image degradation. The burned and unburned regions of skin had large differences in terahertz reflectivity, displaying clear delineation [20 dB signal-to-noise ratio (SNR) difference signal] between both regions in the images. The terahertz images also exhibited a "halo" surrounding the burn areas that may correlate to the extent of burn injury. The system operated at a center frequency of 500 GHz with 125 GHz of 3 dB bandwidth and used whiskbroom scanning to generate images with a spatial resolution of 1.5 mm. Each pixel was acquired with a 16 ms integration time, resulting in a 40 dB postdetection SNR. The simplicity and high SNR of the reflective terahertz system are promising steps toward real-time terahertz medical imaging.

Ultrasound crack detection in a simulated human tooth.

OBJECTIVE: Currently, diagnosis of cracked teeth generally depends upon the overall clinical assessment, or on exclusion of other clinical possibilities, not primarily on the direct identification of cracks themselves. Owing to its short wavelength in hard tissues and associated high resolution, ultrasound has the potential to allow detection of cracks within tooth structure. However, ultrasound detection of dental cracks has not previously been achieved. The purpose was to determine if an ultrasound imaging system was capable of imaging cracks in simulated tooth structure. METHODS: A complete ultrasound system including a novel transducer made of PLZT-98, a novel gallium-indium alloy coupling agent, and customized electronic and digital signal processing (DSP) algorithms was developed for the specific application of optimizing crack detection within teeth. A simulated tooth with a known and uniform internal structure and acoustic properties similar to those of natural enamel and dentin was designed to model a human tooth with a crack located in dentin deep to the dentino-enamel junction (DEJ). The distance between the DEJ and a crack of the simulated tooth were calculated. RESULTS: The system unequivocally distinguished between areas with and without a simulated crack. CONCLUSION: A unique ultrasound dental crack detection system using a novel transducer; a novel coupling agent; and customized electronic and digital signal processing (DSP) algorithms has been validated in a simulated tooth.

Imaging of human tooth enamel using ultrasound.

This paper reports the results of a complete circumferential scan of a human tooth and its underlying dentino-enamel junction using ultrasound at frequencies in the 10-MHz range. The imagery shows clearly a two-dimensional contour of the dentinoenamel junction with a depth and lateral resolution of approximately 100 microm and 750 microm, respectively. The resulting sonograph is compared with an optical micrograph of the same tooth to verify the accuracy of the ultrasonic technique. The results are a significant step toward the biolocation of submillimeter size features within the tooth volume.