excerpt from the book: Biomechatronics, Popovic, Academic Press, Elsevier, 2019. (No of pages 668) ISBN 978-0-12-812939-5 https://doi.org/10.1016/C2016-0-04132-3 Copyright © 2019 Elsevier Inc. All rights reserved. Chapter 15, Pages 431-450

Robotic Surgery Pinar Boyraz*,†, Ivo Dobrev‡, Gregory Fischer§, Marko B. Popovic§

*CHALMERS UNIVERSITY OF TECHNOLOGY, GOTHENBURG, SWEDEN †ISTANBUL

TECHNICAL UNIVERSITY, ISTANBUL, TURKEY ‡UNIVERSITY HOSPITAL ZURICH,

UNIVERSITY ZURICH, ZURICH, SWITZERLAND §WORCESTER POLYTECHNIC INSTITUTE,

WORCESTER, MA, UNITED STATES

Abstract

In this chapter, a general overview of robotic surgery will be provided while focusing on specific

developments on hyperredundant, continuum, and soft-material robotic platforms. The chapter also

provides a wide and comprehensive outlook on the implications of human-machine interaction and

autonomy levels in robotic surgery. To better explain the new developments in robotic surgery front, two

case studies are selected reporting on the state-of-the-art applications in robotic ear surgery and

hyperredundant semiautonomous robotic platforms.

CHAPTER OUTLINE

15.1 Overview of Robotic Surgery .................................................................................................. 431

15.1.1 Introduction: Traditional Robotic Surgery ...........................................................................432

15.1.2 Multiarm, Hyperredundant, Continuum, and Soft-Robotic Platforms for

Robotic Endoscopy ........................................................................................................................434

15.2 Platform-Based Classification of Robotic Surgery .................................................................... 436

15.2.1 Multiarm Robotic Platforms for MIS ...................................................................................436

15.2.2 Hyperredundant Robotic Platforms ....................................................................................437

15.2.3 Continuum Robots for MIS ..................................................................................................437

15.2.4 Soft Robotics for Surgical Applications ................................................................................438

15.2.5 Hybrid Robotic Platforms ....................................................................................................440

15.3 Human-Machine Interaction in Robotic Surgery ...................................................................... 441

15.4 Autonomy Levels in Robotic Surgery ....................................................................................... 442

15.5 Case Studies ........................................................................................................................... 443

15.5.1 Automated Ear Surgeries .....................................................................................................443

15.5.2 Reconfigurable and Hyperredundant Robotic Platforms .....................................................446

15.6 Conclusion and Future Trends ................................................................................................ 447

References .................................................................................................................................... 447

Biomechatronics. https://doi.org/10.1016/B978-0-12-812939-5.00015-X

© 2019 Elsevier Inc. All rights reserved.

[chapter content intentionally omitted]

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