The Encyclopedia of Medical Robotics combines contributions in four
distinct areas of Medical robotics, namely: Minimally Invasive
Surgical Robotics, Micro and Nano Robotics in Medicine,
Image-guided Surgical Procedures and Interventions, and
Rehabilitation Robotics. The volume on Minimally Invasive Surgical
Robotics focuses on robotic technologies geared towards challenges
and opportunities in minimally invasive surgery and the research,
design, implementation and clinical use of minimally invasive
robotic systems. The volume on Micro and Nano robotics in Medicine
is dedicated to research activities in an area of emerging
interdisciplinary technology that is raising new scientific
challenges and promising revolutionary advancement in applications
such as medicine and biology. The size and range of these systems
are at or below the micrometer scale and comprise assemblies of
micro and nanoscale components. The volume on Image-guided Surgical
Procedures and Interventions focuses primarily on the use of image
guidance during surgical procedures and the challenges posed by
various imaging environments and how they related to the design and
development of robotic systems as well as their clinical
applications. This volume also has significant contributions from
the clinical viewpoint on some of the challenges in the domain of
image-guided interventions. Finally, the volume on Rehabilitation
Robotics is dedicated to the state-of-the-art of an emerging
interdisciplinary field where robotics, sensors, and feedback are
used in novel ways to re-learn, improve, or restore functional
movements in humans.Volume 1, Minimally Invasive Surgical Robotics,
focuses on an area of robotic applications that was established in
the late 1990s, after the first robotics-assisted minimally
invasive surgical procedure. This area has since received
significant attention from industry and researchers. The
teleoperated and ergonomic features of these robotic systems for
minimally invasive surgery (MIS) have been able to reduce or
eliminate most of the drawbacks of conventional (laparoscopic) MIS.
Robotics-assisted MIS procedures have been conducted on over 3
million patients to date - primarily in the areas of urology,
gynecology and general surgery using the FDA approved da Vinci (R)
surgical system. The significant commercial and clinical success of
the da Vinci (R) system has resulted in substantial research
activity in recent years to reduce invasiveness, increase
dexterity, provide additional features such as image guidance and
haptic feedback, reduce size and cost, increase portability, and
address specific clinical procedures. The area of robotic MIS is
therefore in a state of rapid growth fueled by new developments in
technologies such as continuum robotics, smart materials, sensing
and actuation, and haptics and teleoperation. An important need
arising from the incorporation of robotic technology for surgery is
that of training in the appropriate use of the technology, and in
the assessment of acquired skills. This volume covers the topics
mentioned above in four sections. The first section gives an
overview of the evolution and current state the da Vinci (R) system
and clinical perspectives from three groups who use it on a regular
basis. The second focuses on the research, and describes a number
of new developments in surgical robotics that are likely to be the
basis for the next generation of robotic MIS systems. The third
deals with two important aspects of surgical robotic systems -
teleoperation and haptics (the sense of touch). Technology for
implementing the latter in a clinical setting is still very much at
the research stage. The fourth section focuses on surgical training
and skills assessment necessitated by the novelty and complexity of
the technologies involved and the need to provide reliable and
efficient training and objective assessment in the use of robotic
MIS systems.In Volume 2, Micro and Nano Robotics in Medicine, a
brief historical overview of the field of medical nanorobotics as
well as the state-of-the-art in the field is presented in the
introductory chapter. It covers the various types of nanorobotic
systems, their applications and future directions in this field.
The volume is divided into three themes related to medical
applications. The first theme describes the main challenges of
microrobotic design for propulsion in vascular media. Such
nanoscale robotic agents are envisioned to revolutionize medicine
by enabling minimally invasive diagnostic and therapeutic
procedures. To be useful, nanorobots must be operated in complex
biological fluids and tissues, which are often difficult to
penetrate. In this section, a collection of four papers review the
potential medical applications of motile nanorobots,
catalytic-based propelling agents, biologically-inspired
microrobots and nanoscale bacteria-enabled autonomous drug delivery
systems. The second theme relates to the use of micro and
nanorobots inside the body for drug-delivery and surgical
applications. A collection of six chapters is presented in this
segment. The first chapter reviews the different robot structures
for three different types of surgery, namely laparoscopy,
catheterization, and ophthalmic surgery. It highlights the progress
of surgical microrobotics toward intracorporeally navigated
mechanisms for ultra-minimally invasive interventions. Then, the
design of different magnetic actuation platforms used in micro and
nanorobotics are described. An overview of magnetic actuation-based
control methods for microrobots, with eventually biomedical
applications, is also covered in this segment. The third theme
discusses the various nanomanipulation strategies that are
currently used in biomedicine for cell characterization, injection,
fusion and engineering. In-vitro (3D) cell culture has received
increasing attention since it has been discovered to provide a
better simulation environment of in-vivo cell growth. Nowadays, the
rapid progress of robotic technology paves a new path for the
highly controllable and flexible 3D cell assembly. One chapter in
this segment discusses the applications of micro-nano robotic
techniques for 3D cell culture using engineering approaches.
Because cell fusion is important in numerous biological events and
applications, such as tissue regeneration and cell reprogramming, a
chapter on robotic-tweezers cell manipulation system to achieve
precise laser-induced cell fusion using optical trapping has been
included in this volume. Finally, the segment ends with a chapter
on the use of novel MEMS-based characterization of micro-scale
tissues instead of mechanical characterization for cell lines
studies.Volume 3, Image-guided Surgical Procedures and
Interventions, focuses on several aspects ranging from
understanding the challenges and opportunities in this domain, to
imaging technologies, to image-guided robotic systems for clinical
applications. The volume includes several contributions in the area
of imaging in the areas of X-Ray fluoroscopy, CT, PET, MR Imaging,
Ultrasound imaging, and optical coherence tomography.
Ultrasound-based diagnostics and therapeutics as well as
ultrasound-guided planning and navigation are also included in this
volume in addition to multi-modal imaging techniques and its
applications to surgery and various interventions. The application
of multi-modal imaging and fusion in the area of prostate biopsy is
also covered. Imaging modality compatible robotic systems, sensors
and actuator technologies for use in the MRI environment are also
included in this work., as is the development of the framework
incorporating image-guided modeling for surgery and intervention.
Finally, there are several chapters in the clinical applications
domain covering cochlear implant surgery, neurosurgery, breast
biopsy, prostate cancer treatment, endovascular interventions,
neurovascular interventions, robotic capsule endoscopy, and
MRI-guided neurosurgical procedures and interventions.Volume 4,
Rehabilitation Robotics, is dedicated to the state-of-the-art of an
emerging interdisciplinary field where robotics, sensors, and
feedback are used in novel ways to relearn, improve, or restore
functional movements in humans. This volume attempts to cover a
number of topics relevant to the field. The first section addresses
an important activity in our daily lives: walking, where the
neuromuscular system orchestrates the gait, posture, and balance.
Conditions such as stroke, vestibular deficits, or old age impair
this important activity. Three chapters on robotic training, gait
rehabilitation, and cooperative orthoses describe the current works
in the field to address this issue. The second section covers the
significant advances in and novel designs of soft actuators and
wearable systems that have emerged in the area of prosthetic lower
limbs and ankles in recent years, which offer potential for both
rehabilitation and human augmentation. These are described in two
chapters. The next section addresses an important emphasis in the
field of medicine today that strives to bring rehabilitation out
from the clinic into the home environment, so that these medical
aids are more readily available to users. The current
state-of-the-art in this field is described in a chapter. The last
section focuses on rehab devices for the pediatric population.
Their impairments are life-long and rehabilitation robotics can
have an even bigger impact during their lifespan. In recent years,
a number of new developments have been made to promote mobility,
socialization, and rehabilitation among the very young: the infants
and toddlers. These aspects are summarized in two chapters of this
volume.
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