CHAPTER ONE
INTRODUCTION
1.1 General
Medical robots may be classified in many ways: by manipulator design (e.g., kinematics, actuation); by level of autonomy (e.g., preprogrammed versus teleoperation versus constrained cooperative control), by targeted anatomy or technique (e.g., cardiac, intravascular, percutaneous, laparoscopic, microsurgical); and by the intended operating environment [e.g., in-scanner, conventional operating room (OR)], etc,[1]. Traditional surgery requires an incision large enough for the surgeon to see directly and place his or her fingers and instruments directly into the target operating site. Most often, the damage done to skin, muscle, connective tissue, and bone to reach the region of interest causes much …show more content…
It is minimally invasive, i.e., the surgery is performed with instruments inserted through small incisions (less than 10 mm in diameter) rather than by making a large incision to expose the operation site. The main advantage of this technique is the reduced trauma to healthy tissue, which is the major reason for post-operational pain and long hospital stay of the patient. The hospital stay and rest periods, and therefore the procedures' cost, are significantly reduced with minimally invasive surgery, at the expense of more difficult techniques performed by the …show more content…
In thoracoscopy a lung is deflated which is sometimes supported with some additional gas. Plastic or metal cannulas (called trocars in the remainder of this thesis) with seals are placed in the incisions to protect the tissue, to simplify exchange of instruments and to keep the carbon dioxide inside the cavity. However, feedback on applied forces is limited due to friction between instruments and seals and can change during one procedure as the instrument becomes more wetted