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Applied Sciences
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Surgical Robotics Design and Clinical Applications
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Surgical Robotics Design and Clinical Applications

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: closed (30 March 2024) | Viewed by 7519

Special Issue Editors

Dr. Cai Meng

E-Mail Website
Guest Editor
Image Processing Center, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
Interests: image guidance surgery; surgical robotics; computer vision
Dr. Xiaoliang Xie

E-Mail Website
Guest Editor
Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
Interests: surgical robots; robot control; learning from demonstration
Dr. Haiyuan Li

E-Mail Website
Guest Editor
School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Interests: surgical robot; modular robotics; robot hand and robot manipulation
Special Issues, Collections and Topics in MDPI journals
Dr. Changsheng Li

E-Mail Website
Guest Editor
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
Interests: surgical robotics and navigation; human-robot interaction and intelligent control; mechanical design and system integration
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Surgical robotics is a vibrant discipline that utilizes the advantages of computer-aided surgery and robotics to assist surgeons to achieve improved outcomes to their patients. They have been widely used in neurosurgery, orthopedics, spine surgery, ophthalmology, laparoscopic surgery, stomatology, vascular intervention, puncture sampling, and other surgical fields for the last 30 years. Their employment helps surgeons in improving operation quality, reducing the intensity, and being protected from X-rays; in particular, they enable the doctors to perform minimally invasive surgery which benefits the patients by a smaller incision dimension, less injury to healthy organs, and shorter recovery times.

However, despite these achievements, there are many surgical applications and anatomical regions that remain inaccessible with existing commercial systems. Additionally, the ways in which robot and computer guidance can be used to improve surgical outcomes are still motivating new research in this area.

Our Special Issue aims to focus on the subjects of the design and clinical application of surgical robotics, providing a comprehensive and deep understanding of how these systems are developed and run for academia, interdisciplinary researchers, and practitioners.

Given the above, this Special Issue is directed at any aspects discussing specific engineering breakthroughs that have occurred in surgical robotics and specific surgical applications of robotics that have already been deployed in operating rooms. Topics may include, but are not limited to, the following:

  • Surgical Robotics Design and Integration;
  • Design and application of Image Guidance System for Surgical Robotics;
  • Surgical Robot Vision and AI;
  • New Haptic Sensors in Surgery Robotics;
  • Virtual Reality and Surgical Procedure Training;
  • Tele-surgery or Tele-operation in Surgical Robotics;
  • Novel Robotic or Automate Surgical Instrument;
  • Specific surgical applications of robotics that have already been deployed in operating rooms.

Dr. Cai Meng
Dr. Xiaoliang Xie
Dr. Haiyuan Li
Dr. Changsheng Li
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Published Papers (4 papers)

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Research

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15 pages, 1447 KiB  
Article
Oscillating Saw Calibration for Mandibular Osteotomy Robots
by Cai Meng, Dingzhe Li, Weimin Yuan, Kai Wu and Hongbin Shen
Appl. Sci. 2023, 13(17), 9773; https://0-doi-org.brum.beds.ac.uk/10.3390/app13179773 - 29 Aug 2023
Viewed by 628
Abstract
Accurate oscillating saw tool calibration is an important task for mandibular osteotomy robots to perform precise cutting operations. However, in contrast to traditional tool calibration which just calibrates the tool center position (TCP) or the tool feed axis, both the position and the [...] Read more.
Accurate oscillating saw tool calibration is an important task for mandibular osteotomy robots to perform precise cutting operations. However, in contrast to traditional tool calibration which just calibrates the tool center position (TCP) or the tool feed axis, both the position and the plane orientation of the saw should be carefully calibrated. Therefore, aiming at this problem, in this paper, we propose a method to carry out oscillating saw calibration by employing an optical stereo vision tracking system. At first, hand–eye calibration is conducted to ascertain the spatial pose of the vision frame within the manipulator’s base frame. Subsequently, employing a probe, the positions of the sawtooth points on the oscillating saw plane are captured within the vision frame. These positions are then translated to the manipulator’s end-effector frame using the positional elimination algorithm proposed in this paper. Finally, the pose of the oscillating saw plane within the manipulator’s end-effector frame is extrapolated from the positions of the three sawtooth points. The result shows that the position errors of the points on the oscillating saw plane are within 0.25 mm and the variance of the plane normal direction is 1.93∘ in the five experiments. This approach enables accurate calibration of the oscillating saw plane’s position and orientation within the manipulator’s end-effector frame. Furthermore, it mitigates the necessity of continual adjustments to the joint angles of the manipulator as required by the “six-point method”. However, this approach is hinged upon the availability of precision-oriented 3D positioning equipment. Full article
(This article belongs to the Special Issue Surgical Robotics Design and Clinical Applications)
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16 pages, 7774 KiB  
Article
A Safe Admittance Boundary Algorithm for Rehabilitation Robot Based on Space Classification Model
by Yong Tao, Yuanlong Ji, Dongming Han, He Gao and Tianmiao Wang
Appl. Sci. 2023, 13(9), 5816; https://0-doi-org.brum.beds.ac.uk/10.3390/app13095816 - 08 May 2023
Viewed by 1018
Abstract
Existing studies on rehabilitation robots are generally devoted to robot-assisted active rehabilitation training, which is conducive to facilitating muscle and nerve regeneration. However, human–robot interaction (HRI) requires imposing a limit on the workspace within which the robot operates, so as to ensure patient [...] Read more.
Existing studies on rehabilitation robots are generally devoted to robot-assisted active rehabilitation training, which is conducive to facilitating muscle and nerve regeneration. However, human–robot interaction (HRI) requires imposing a limit on the workspace within which the robot operates, so as to ensure patient safety. A safe admittance boundary algorithm for a rehabilitation robot is proposed based on the space classification model which works by constructing a virtual boundary for the HRI workspace in the control layer. First, point cloud isodensification is performed for the workspaces within which the human body and the robot operate. Next, the nearest neighbor density is determined for the point cloud, and the space classification model is built on this basis. Finally, the space classification model is integrated with admittance control to derive the safe admittance boundary algorithm, which can be used for safety control. This algorithm is then subjected to space verification experiments and out–of–bounds experiments using a dynamic arm simulator (DAS). As indicated by the experimental results, when the side length of the voxel grid for voxel center filtering is set to 0.06 m, the accuracy of space definition is 98.40%. The average maximum response time for out–of–bounds behaviors is 165.62 ms. The safe admittance boundary algorithm can impose reasonable virtual constraints on the robot workspace, thereby improving HRI safety. Full article
(This article belongs to the Special Issue Surgical Robotics Design and Clinical Applications)
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Review

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28 pages, 56756 KiB  
Review
Robotic Systems and Navigation Techniques in Orthopedics: A Historical Review
by Teng Li, Armin Badre, Farshid Alambeigi and Mahdi Tavakoli
Appl. Sci. 2023, 13(17), 9768; https://0-doi-org.brum.beds.ac.uk/10.3390/app13179768 - 29 Aug 2023
Cited by 4 | Viewed by 3305
Abstract
Since the da Vinci surgical system was approved by the Food and Drug Administration (FDA) in 2000, the development and deployment of various robot-assisted minimally invasive surgery (MIS) systems have been largely expedited and boomed. With the rapid advancement of robotic techniques in [...] Read more.
Since the da Vinci surgical system was approved by the Food and Drug Administration (FDA) in 2000, the development and deployment of various robot-assisted minimally invasive surgery (MIS) systems have been largely expedited and boomed. With the rapid advancement of robotic techniques in recent decades, robot-assisted systems have been widely used in various surgeries including orthopedics. These robot-related techniques are transforming the conventional ways to conduct surgical procedures. Robot-assisted orthopedic surgeries have become more and more popular due to their potential benefits of increased accuracy and precision in surgical outcomes, enhanced reproducibility, reduced technical variability, decreased pain, and faster recovery time. In this paper, robotic systems and navigation techniques in typical orthopedic surgeries are reviewed, especially for arthroplasty. From the perspective of robotics and engineering, the systems and techniques are divided into two main categories, i.e., robotic systems (RSs), and computer-aided navigation systems (CANSs). The former is further divided into autonomous RS, hands-on RS, and teleoperated RS. For the latter, three key elements in CANS are introduced, including 3D modeling, registration, and navigation. Lastly, the potential advantages and disadvantages of the RS and CANS are summarized and discussed. Future perspectives on robotics in orthopedics, as well as the challenges, are presented. Full article
(This article belongs to the Special Issue Surgical Robotics Design and Clinical Applications)
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16 pages, 7592 KiB  
Review
An Overview of Minimally Invasive Surgery Robots from the Perspective of Human–Computer Interaction Design
by Bowen Sun, Dijia Li, Bowen Song, Saisai Li, Changsheng Li, Chao Qian, Qian Lu and Xia Wang
Appl. Sci. 2023, 13(15), 8872; https://0-doi-org.brum.beds.ac.uk/10.3390/app13158872 - 01 Aug 2023
Viewed by 1552
Abstract
In order to streamline and summarize the status quo of human–computer interaction (HCI) design research in minimally invasive surgery robots, and to inspire and promote in-depth design research in related fields, this study utilizes literature research methods, inductive summarizing methods, and comparative analysis [...] Read more.
In order to streamline and summarize the status quo of human–computer interaction (HCI) design research in minimally invasive surgery robots, and to inspire and promote in-depth design research in related fields, this study utilizes literature research methods, inductive summarizing methods, and comparative analysis methods to analyze and organize the usage scenarios, users, interaction content and form, and relevant design methods of minimally invasive surgery robots, with the purpose of arriving at a review. Through a summary method, this study will obtain outcomes such as design requirements, interaction information classification, and the advantages and disadvantages of different interaction forms, and then make predictions of future trends in this field. Research findings show that the HCI design in the relevant field display a highly intelligent, human-centered, and multimodal development trend through the application of cutting-edge technology, taking full account of work efficiency and user needs. However, meanwhile, there are problems such as the absence of guidance by a systematic user knowledge framework and incomplete design evaluation factors, which need to be supplemented and improved by researchers in related fields in the future. Full article
(This article belongs to the Special Issue Surgical Robotics Design and Clinical Applications)
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