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Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics

Bahls, Thomas and Fröhlich, Florian Alexander and Hellings, Anja and Deutschmann, Bastian and Albu-Schäffer, Alin Olimpiu (2016) Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics. IEEE Transactions on Biomedical Engineering, PP (99). IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TBME.2016.2553720 ISSN 0018-9294

Full text not available from this repository.

Official URL: http://ieeexplore.ieee.org/document/7452603/

Abstract

In waterjet surgery a thin, high pressure jet is used for dissections and surface abrasion of soft tissue. This selective preparation method preserves nerves and vessels whereas the surrounding soft tissue is washed away. Objective: The aim of the presented work is to enhance the application field of this technique by resolving technological limitations. Methods: A technical task definition of handling a hand-guided waterjet applicator is derived from literature. All reported procedures require to follow a trajectory superimposed with an oscillating movement. By introducing a robotic system and a specialized kinematic approach the limited dexterity of the waterjet applicator is increased. Additionally, the system provides assistance by automatically performing parts of the task. Results: The method is applied to two different procedures: a minimally invasive dissection, as well as a surface abrasion for open medical treatments. On the basis of experiments with gelatine phantoms the performance of the method is shown for both procedures. Conclusion: In the minimally invasive use case the reachability limited by the conventional manual tools is extended by the capabilities of the robotic system. Simultaneously, the handling is simplified by automation of the superimposed oscillation. In the surface abrasion case a dense coverage of the treated area is achievable. The risk of cross infections could be reduced by spatial separation of patient and staff. Significance: Thus, the waterjet technology can be fully integrated into robotic surgery systems and benefit from their inherent abilities.

Item URL in elib:https://elib.dlr.de/105887/
Document Type:Article
Title:Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bahls, ThomasThomas.Bahls (at) dlr.deUNSPECIFIED
Fröhlich, Florian Alexanderflorian.froehlich (at) dlr.deUNSPECIFIED
Hellings, AnjaAnja.Hellings (at) dlr.deUNSPECIFIED
Deutschmann, BastianBastian.Deutschmann (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:14 April 2016
Journal or Publication Title:IEEE Transactions on Biomedical Engineering
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:PP
DOI :10.1109/TBME.2016.2553720
Editors:
EditorsEmail
He, Binoffice@tbme.embs.org
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:0018-9294
Status:Published
Keywords:Waterjet Surgery, Medical Robotics, Minimally Invasive Robotic Surgery
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Medizinische Assistenzsysteme
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Bahls, Thomas
Deposited On:04 Nov 2016 13:07
Last Modified:06 Sep 2019 15:18

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