MEDICAL ROBOTICS: da Vinci Si Surgical Robot

Edline Abigail Eribal, Dan Angelo Mercado, Noel Fabillar, Tristan Louise Nepomuceno
College of Engineering, Architecture and Technology (CEAT) � Engineering Department

De La Salle University � Dasmari�as, Philippines

Abstract -
I. Introduction
In today�s age, almost anything can be automated. Jobs are made much easier with
machines, homes more secure and communication made much easier even across
different continents. One of the major advancements and one of the most sought out
projects are robots.
One of its many applications is its use in the medical field. Robots are used as
telepresence, surgical assistants, rehabilitation robots, medical transportation
robots, sanitation and disinfection robots, and prescription dispensing systems. In
the 1980s, the standard industrial robot arm was developed, PUMA560 (Programmable
Universal Machine for Assembly or Programmable Universal Manipulation Arm). This
paved the way to the �Age of Medical Robotics� in 1985 where Dr. Yik San Kwoh
developed a computer program that made the PUMA560�s arm work. This success led to
the development of the PROBOT where the first robotic surgery was completed while
ROBODOC was the first robot that assisted in a Total Hip Arthroplasty (THA). Until
now, ROBODOC is being used in orthopedic surgery and the only platform in robotics
approved by the FDA.
Nowadays, with more medical tools and robots available, surgeons prefer performing
surgeries assisted by the machines. One of the most famous medical robot is the da
Vinci Si Surgical Robot which allows surgeons to operate with such precision and
also �minimal discomfort for the patient�. Due to this, it lessens the risk of
infection as well as reducing the patient�s time in the operating room due to the
tiny incisions, the actions made by the surgeon would be more precise to where the
operation needs to be, therefore there would be less bleeding and less infection.
The da Vinci Si Surgical Robot was made by the Intuitive Surgical in the United
States at the year 2000.
II. System Overview
The da Vinci System consists of a surgeon's console that is typically in the same
room as the patient, and a patient-side cart with four interactive robotic arms
controlled from the console. Three of the arms are for tools that hold objects, and
can also act as scalpels, scissors, bovies, or graspers. The surgeon uses the
console's master controls to maneuver the patient-side cart's three or four robotic
arms (depending on the model). The instruments� jointed-wrist design exceeds the
natural range of motion of the human hand; motion scaling and tremor reduction
further interpret and refine the surgeon's hand movements. The da Vinci System
always requires a human operator, and incorporates multiple redundant safety
features designed to minimize opportunities for human error when compared with
traditional approaches.

The da Vinci System has been designed to improve upon conventional laparoscopy, in
which the surgeon operates while standing, using hand-held, long-shafted
instruments, which have no wrists. With conventional laparoscopy, the surgeon must
look up and away from the instruments, to a nearby 2D video monitor to see an image
of the target anatomy. The surgeon must also rely on a patient-side assistant to
position the camera correctly. In contrast, the da Vinci System's design allows the
surgeon to operate from a seated position at the console, with eyes and hands
positioned in line with the instruments and using controls at the console to move
the instruments and camera.

By providing surgeons with superior visualization, enhanced dexterity, greater

precision and ergonomic comfort, the da Vinci Surgical System makes it possible for
more surgeons to perform minimally invasive procedures involving complex dissection
or reconstruction.[citation needed] For the patient, a da Vinci procedure can offer
all the potential benefits of a minimally invasive procedure, including less pain,
less blood loss and less need for blood transfusions.[citation needed] Moreover,
the da Vinci System can enable a shorter hospital stay, a quicker recovery and
faster return to normal daily activities.
III. SYSTEM COMPONENTS
Surgeon Console
� Using the da Vinci Surgical System, the surgeon operates seated comfortably at a
console while viewing a high definition, 3D image inside the patient's body.
� The surgeon's fingers grasp the master controls below the display with hands and
wrists naturally positioned relative to his or her eyes.
� The system seamlessly translates the surgeon's hand, wrist and finger movements
into precise, real-time movements of surgical instruments

Surgeon Console

Patient-side Cart
� The patient-side cart is where the patient is positioned during surgery. It
includes either three or four robotic arms that carry out the surgeon's commands.
� The robotic arms move around fixed pivot points.
� The system requires that every surgical maneuver be under the direct control of
the surgeon. Repeated safety checks prevent any independent movement of the
instruments or robotic arms.

Patient-side Cart

Endowrist Instruments
� A full range of Endowrist instruments is available to the surgeon while
operating.
� The instruments are designed with seven degrees of motion - a range of motion
even greater than the human wrist
� Each instrument has a specific surgical mission such as clamping, suturing and
tissue manipulation.
� Quick-release levers speed instrument changes during surgery.

Endowrist Instruments

Vision System
� The vision system is equipped with a high-definition, 3D endoscope (flexible tube
with a camera and light at the tip) and image processing equipment that provides
true-to-life images of the patient's anatomy.
� A view of the operating field is available to the entire OR team on a large
viewing monitor (vision cart). This widescreen view provides the surgical assistant
at the patient's side with a broad perspective and visualization of the procedure.

Vision System

All surgery presents risk, including da Vinci� Surgery and other minimally invasive
procedures. Serious complications may occur in any surgery, up to and including
death. Examples of serious or life-threatening complications which may require
hospitalization include injury to tissues or organs, bleeding, infection or
internal scarring that can cause long-lasting dysfunction or pain. Temporary pain
or nerve injury has been linked to the inverted position often used during
abdominal and pelvic surgery. Risks of surgery also include potential for equipment
failure and human error. Risks specific to minimally invasive surgery may include:
A long operation and time under anesthesia, conversion to another technique or the
need for additional or larger incisions. If your surgeon needs to convert the
procedure, it could mean a long operative time with additional time under
anesthesia and increased complications. Temporary pain or discomfort may result
from pneumoperitoneum, the presence of air or gas in the abdominal cavity used by
surgeons in minimally invasive surgery. Research suggests that there could be an
increased risk of incision-site hernia with single-incision surgery. Results,
including cosmetic results, may vary. Patients who bleed easily, who have abnormal
blood clotting, are pregnant or morbidly obese are typically not candidates for
minimally invasive surgery, including da Vinci� Surgery.

References
https://interestingengineering.com/15-medical-robots-that-are-changing-the-world

https://www.unitypoint.org/cedarrapids/services-how-does-it-work.aspx

https://www.asme.org/engineering-topics/articles/bioengineering/top-6-robotic-
applications-in-medicine

https://en.wikipedia.org/wiki/Da_Vinci_Surgical_System

https://www.davincisurgerycommunity.com/Systems_I_A?tab1=SYP