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<!DOCTYPE html>
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<title>Robotic Surgery</title>
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<h1 class="display-3 text-center">Robotic Surgery</h1>
<p class="text-center">The robots are taking over the medical world.</p>
<center><a class="scroll-link btn btn-info" href="#" data-id="roboticsurgery">Robotic Surgery</a>
<a class="scroll-link btn btn-info" href="#" data-id="surgicalplan"> Surgical Planning</a>
<a class="scroll-link btn btn-info" href="#" data-id="execution">Surgical Execution</a>
</div>
</div>
<div id="roboticsurgery">
<div class="container-fluid bg-1 text-center">
<h2 class="text-center" id="roboticsurgery">Robotic Surgery</h2>
<center><img src="images/robsurgery.jpeg" class="img-responsive" alt="RoboticSurgery" style="width: 40%; height: 40%"></center>
<p>
<h4 class="text-center">What is Robotic Surgery?</h3>
<p>Robotic Surgery is the process where a robot carries out a surgical procedure under the control of its computer program. A surgeon will usually be present and will be involved in the planning of the procedure to be performed, but the execution of the plan will be done by the robot. One advantage of robotic surgery is precision. Unlike humans, robots will not hesitate between steps and will calculate the possible outcomes and choose the next move accordingly. <sup>[1]</sup> Although this is viewed as an advantage of robotic surgery, it is also viewed as a disadvantage because there may be exceptions for each situation. <br/><a href="#" class="scroll-top back-to-top">↑</a></p>
<center><a href="#roboticsurgeryrefs" class="btn btn-outline-info" data-toggle="collapse">References</a></center>
<p>
<div id="roboticsurgeryrefs" class="collapse">
<div class="list-group">
<a href="https://www.doc.ic.ac.uk/~nd/surprise_96/journal/vol4/ao2/report.html" class="list-group-item list-group-item-action">1. Constantine-Basil Prouskas and Amere Oakman. Medical Robotics. (accessed 10 March 2017).</a>
<a href="http://www.pressdemocrat.com/csp/mediapool/sites/dt.common.streams.StreamServer.cls?STREAMOID=0foGGEH5i9AYUuQ4rc0ZOM$daE2N3K4ZzOUsqbU5sYv5lt9SYHlh8t1Mr7re$0YVWCsjLu883Ygn4B49Lvm9bPe2QeMKQdVeZmXF$9l$4uCZ8QDXhaHEp3rvzXRJFdy0KqPHLoMevcTLo3h8xh70Y6N_U_CryOsw6FTOdKL_jpQ-&CONTENTTYPE=image/jpeg" class="list-group-item list-group-item-action">Photo: pressdemocrat.com</a>
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<div id="surgicalplan">
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<h2 class="text-center" id="surgicalplan">Surgical Planning</h2>
<center><img src="images/surgicalplan.jpg" class="img-responsive" alt="SurgicalPlanning" style="width: 35%; height: 35%"></center>
<p>
<h4 class="text-center">What is Surgical Planning?</h3>
<p> Before robotic surgery is performed, the patient and the doctors need to go through Surgical Planning so the surgery is successful. </p>
<button type="button" class="btn btn-outline-info" data-toggle="collapse" data-target="#demo2">Read more</button>
<div id="demo2" class="panel-collapse collapse">
<p>
<h4 class="text-center">How does Surgical Planning work?</h3>
<p> Surgical planning involves three main parts: imaging the patient, creating a 3D meld of the data, and rehearsing the operation.
The primary method of imaging is done by a computer tomography (CT) scan. The CT scan provides a two-dimensional data of the patient, and in order to have more detailed information about the patient’s symptoms, a 3D model is generated through volume graphics methods. <sup>[1]</sup></p>
<p>
<center><img src="images/brain-scan.jpg" class="img-responsive" alt="SurgicalPlan" style="width: 30%; height: 30%"></center>
<p>
<p> Once the 3D model is generated, the robot starts to develop the surgery plan. This process is known as 'path planning'.
To have a successful surgery, the registration of the robot to the patient is necessary. This requires the fixation of the patient and the robot and the intra-surgical registration. <sup>[2]</sup> The fixation of the patient is done the same way when the human doctor is performing surgery. The intra-surgical registration is the process of establishing a common reference frame between the 3D model generated and the actual patient. In order to achieve perfect intra-surgical registration, there are generally two methods used.</p>
<p>
<center><img src="images/surgical.jpg" class="img-responsive" alt="SurgicalPlan" style="width: 30%; height: 30%"></center>
<p>
<p> The first, and the most common, is to attach fiducials to the patient before the imaging takes place. However, this requires an extra operation and may be traumatic for the patient, so it is not the best option. <sup>[2]</sup> The second option is known as ‘surface-based’ registration. The surfaces that are intrinsic to the data are generated by mathematical extraction of the maximum curvature. In order to receive the correct results and perform a successful robotic surgery, the most crucial part is the 3D model. <sup>[1]</sup> In order to create the perfect 3D model, many programmers and scientists have been trying to improve their algorithms in generating the 3D models in a more efficient way.<br/><a href="#" class="scroll-top back-to-top">↑</a> </p>
</p>
<center><a href="#surgicalrefs" class="btn btn-outline-info" data-toggle="collapse">References</a></center>
<p>
<div id="surgicalrefs" class="collapse">
<div class="list-group">
<a href="https://www.doc.ic.ac.uk/~nd/surprise_96/journal/vol4/ao2/report.html" class="list-group-item list-group-item-action">1. Constantine-Basil Prouskas and Amere Oakman. Medical Robotics. (accessed 10 March 2017).</a>
<a href="http://www.ijera.com/papers/Vol3_issue5/AR35247251.pdf" class="list-group-item list-group-item-action text-left">2. Robotics in Medicine", P.Dario, E.Guglielmelli, B.Allotta, IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Advanced Robotic Systems and the Real World (Cat.No.94CH3447-0), Sept.1994, Vol.2, pp.739-52</a>
<a href="http://www.healthcare-in-europe.com/media/article/7241/image-1413132644_hires.jpg" class="list-group-item list-group-item-action">Photo: healthcare-in-europe.com</a>
<a href="http://www.livescience.com/images/i/000/015/119/original/brain-scan.jpg?interpolation=lanczos-none&fit=inside%7C660:*" class="list-group-item list-group-item-action">Photo: livescience.com</a>
<a href="https://www.doc.ic.ac.uk/~nd/surprise_96/journal/vol4/ao2/report.clamp.gif" class="list-group-item list-group-item-action">Photo: doc.ic.ac.uk</a>
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<div id="execution">
<div class="container-fluid bg-3 text-center">
<h2 class="text-center" id="execution">Surgical Execution</h2>
<center><img src="images/surgicalexecution.jpg" class="img-responsive" alt="Surgical Execution" style="width: 30%; height: 30%"></center>
<p>
<h4 class="text-center">What happens during the Surgical Execution?</h3>
<p>Once the surgical planning is complete, the surgery needs to be carried out. Once the procedure is initiated, the sensors collect real-time data from the operating site and pass the data into the display, which allows the surgeons to observe the operation. The sensors use infra-red transmitters and through this, the surgeons are able to receive the exact data on the display in real-time. <sup>[1]</sup></p>
<button type="button" class="btn btn-outline-info" data-toggle="collapse" data-target="#demo3">Example</button>
<div id="demo3" class="panel-collapse collapse">
<p>
<h4 class="text-center">Telesurgery</h3>
<p>A special type of robotic surgery includes telesurgery which allows a surgery to be performed by a surgeon from a remote location. The robot becomes the surgeon’s hands and the surgeon is able to receive the robot’s sense to the surgeon. The risky thing about telesurgery is that the only thing the surgeon is able to rely on is the robot’s sensor data. <sup>[1]</sup> Therefore, the sensor data must be absolutely correct. Fiducials, infra-red transmitters and receivers are used to produce the most accurate data possible.</p>
<p>
<center><img src="images/telesurg.jpg" class="img-responsive" alt="TeleSurgery" style="width: 30%; height: 30%"></center>
<p>
<p>The HCI is one of the most complicated parts of telesurgery. It needs to be simple and efficient, both of which are difficult to satisfy. One of the most used approaches is the virtual reality glove. <sup>[1]</sup> The glove is made out of flex-controlled potentiometers or optical fibers, which allows the location of the surgeon's hand to be sensed with good precision and fast speed. In addition, the hand's movement is not registered but the position of a handle the surgeon makes is recorded. This data is transmitted to the robot. <br/><a href="#" class="scroll-top back-to-top">↑</a></p>
<p>
<center><a href="#heliusrefs" class="btn btn-outline-info" data-toggle="collapse">References</a></center>
<p>
<div id="heliusrefs" class="collapse">
<div class="list-group">
<a href="https://www.doc.ic.ac.uk/~nd/surprise_96/journal/vol4/ao2/report.html" class="list-group-item list-group-item-action">1. Constantine-Basil Prouskas and Amere Oakman. Medical Robotics. (accessed 10 March 2017).</a>
<a href="https://www.doc.ic.ac.uk/~dfg/OtherLectures/VirtualRealityInMedicine.pdf" class="list-group-item list-group-item-action">2. Duncan Gillies. Virtual Reality in Medicine and Surgery. (accessed 12 March 2017).</a>
<a href="http://ichef-1.bbci.co.uk/news/624/cpsprodpb/0753/production/_89557810_stm-star02rescaled.jpg" class="list-group-item list-group-item-action">Photo: ichef-1.bbci.co.uk</a>
<a href="http://www.tonsofbuzz.com/wp-content/uploads/2016/02/telesurg.jpg" class="list-group-item list-group-item-action">Photo: tonsofbuzz.com</a>
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