references.bib

@Inbook{Nezhat2021,
author="Nezhat, Camran
and Vu, Mailinh
and Vang, Nataliya
and Chavali, Kavya S.
and Nezhat, Azadeh",
editor="Gharagozloo, Farid
and Patel, Vipul R.
and Giulianotti, Pier Cristoforo
and Poston, Robert
and Gruessner, Rainer
and Meyer, Mark",
title="The Journey from Video Laparoscopy to Robotic and Digital Surgery",
bookTitle="Robotic Surgery",
year="2021",
publisher="Springer International Publishing",
address="Cham",
pages="3--10",
abstract="The history of modern-day surgery was an revolution in recognizing the need to advance surgical techniques and platforms. It stems from the realization that optimizing a surgeon's operative capability can enhance a patient's care and outcome. It originated from basic diagnostic laparoscopy to more simple operative laparoscopic surgery, followed by the invention and introduction of video-assisted surgery by Camran Nezhat M.D. and subsequent robotic assistance. This chapter details the key advancements of many individuals and their accomplishments in shaping modern-day surgery. There were pivotal moments that were built upon concepts of their predecessors. However, it was ingenuity and revolutionary thinking beyond the standard of the times to create new frontiers in enhancing surgery and patient care.",
isbn="978-3-030-53594-0",
doi="10.1007/978-3-030-53594-0_1",
url="https://doi.org/10.1007/978-3-030-53594-0_1"
}
@article{ergonomics,
author = {Liang, Ke and Xing, Yuan and Li, Jianmin and Wang, Shuxin and Li, Aimin and Li, Jinhua},
year = {2017},
month = {06},
pages = {},
title = {Motion control skill assessment based on kinematic analysis of robotic end-effector movements},
volume = {14},
journal = {The international journal of medical robotics + computer assisted surgery : MRCAS},
doi = {10.1002/rcs.1845}
}
@article{10-years-dvrk,
   title={Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit},
   volume={28},
   ISSN={1558-223X},
   url={http://dx.doi.org/10.1109/MRA.2021.3101646},
   DOI={10.1109/mra.2021.3101646},
   number={4},
   journal={IEEE Robotics \& Automation Magazine},
   publisher={Institute of Electrical and Electronics Engineers (IEEE)},
   author={D’Ettorre, Claudia and Mariani, Andrea and Stilli, Agostino and Rodriguez y Baena, Ferdinando and Valdastri, Pietro and Deguet, Anton and Kazanzides, Peter and Taylor, Russell H. and Fischer, Gregory S. and DiMaio, Simon P. and Menciassi, Arianna and Stoyanov, Danail},
   year={2021},
   month={Dec},
   pages={56–78} }


@inproceedings{dvrk,
  title = {An Open-Source Research Kit for the da Vinci Surgical System},
  author = {Peter Kazanzides and Zihan Chen and Anton Deguet and Gregory S. Fischer and Russell H. Taylor and Simon P. DiMaio },
  year = {2014},
  date = {2014-06-01},
  booktitle = {IEEE Intl. Conf. on Robotics and Auto. (ICRA)},
  pages = {6434-6439},
  address = {Hong Kong, China},
  tppubtype = {inproceedings}
}
@inproceedings{microhand,
 title = {The first clinical use of domestically produced Chinese minimally invasive surgical robot system "Micro Hand S".},
 author = {Yi, B. and Wang, G. and Li, J. and Jiang, J. and Son, Z. and Su, H. and Zhu, S.},
 year = {2016},
 date = {2016-06-30},
 doi = {10.1007/s00464-015-4506-1}
}
@article{microhand2,
author = {Sang, Hongqiang and Wang, Shuxin and Li, Jianmin and He, Chao and Zhang, Lin'an and Wang, Xiaofei},
title = {Control design and implementation of a novel master–slave surgery robot system, MicroHand A},
journal = {The International Journal of Medical Robotics and Computer Assisted Surgery},
volume = {7},
number = {3},
pages = {334-347},
keywords = {minimally invasive surgery, tendon-driven, kinematic, master–slave control, intuitive motion control},
doi = {https://doi.org/10.1002/rcs.403},
url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.403},
abstract = {Abstract Background Compared with conventional minimally invasive surgery and open surgery, robotic-assisted minimally invasive surgery can overcome or eliminate drawbacks caused by operator restrictions, motion limitation by the trocar and the image system, such as fatigue, trembling, low precision, constrained degree-of-freedom, poor hand–eye coordination and restricted surgical vision. In this paper, a novel partly tendon-driven master–slave robot system is proposed to assist minimally invasive surgery and a master–slave control architecture is developed for abdominal surgical operations. Methods A novel master–slave surgery robot system named MicroHand A has been developed. A kinematic analysis of master and slave manipulators was conducted, based on screw theory and vector loop equation. The relationships of the tendon-driven multi-DOF surgical instrument among Cartesian space, actuator space and joint space were derived for control purposes. The control system architecture of the MicroHand A was designed with intuitive motion control and motion scaling control. Llewellyn's absolute stability criterion and the transparency of the one-DOF master–slave system are also analysed. Results Intuitive motion control under dissimilar kinematics in master–slave manipulations and motion scaling control were accomplished to solve absonant hand–eye coordination, kinematic dissimilarity and workspace mismatch of master–slave manipulator problems. A series of tests and animal experiments were carried out to evaluate system performance. The experimental results demonstrate that the system could accomplish intuitive motion control and motion scaling control, and that the control system is stable and reliable. Conclusions The experiments performed on the MicroHand A robotic system yielded expected control results. The system satisfies the requirements of minimally invasive surgery. Intuitive motion control and motion scaling control under different kinematics for the master and slave have been implemented. Copyright © 2011 John Wiley \& Sons, Ltd.},
year = {2011}
}
@ARTICLE{raven-ii,

  author={Hannaford, Blake and Rosen, Jacob and Friedman, Diana W. and King, Hawkeye and Roan, Phillip and Cheng, Lei and Glozman, Daniel and Ma, Ji and Kosari, Sina Nia and White, Lee},

  journal={IEEE Transactions on Biomedical Engineering}, 

  title={Raven-II: An Open Platform for Surgical Robotics Research}, 

  year={2013},

  volume={60},

  number={4},

  pages={954-959},

  doi={10.1109/TBME.2012.2228858}}

@ARTICLE{laparoscopic-vs-open,
  title     = "Laparoscopic surgery versus open surgery for colon cancer:
               short-term outcomes of a randomised trial",
  author    = "Veldkamp, Ruben and Kuhry, Esther and Hop, Wim C J and Jeekel, J
               and Kazemier, G and Bonjer, H Jaap and Haglind, Eva and
               P{\aa}hlman, Lars and Cuesta, Miguel A and Msika, Simon and
               Morino, Mario and Lacy, Antonio M and {COlon cancer Laparoscopic
               or Open Resection Study Group (COLOR)}",
  abstract  = "BACKGROUND: The safety and short-term benefits of laparoscopic
               colectomy for cancer remain debatable. The multicentre COLOR
               (COlon cancer Laparoscopic or Open Resection) trial was done to
               assess the safety and benefit of laparoscopic resection compared
               with open resection for curative treatment of patients with
               cancer of the right or left colon. METHODS: 627 patients were
               randomly assigned to laparoscopic surgery and 621 patients to
               open surgery. The primary endpoint was cancer-free survival 3
               years after surgery. Secondary outcomes were short-term
               morbidity and mortality, number of positive resection margins,
               local recurrence, port-site or wound-site recurrence,
               metastasis, overall survival, and blood loss during surgery.
               Analysis was by intention to treat. Here, clinical
               characteristics, operative findings, and postoperative outcome
               are reported. FINDINGS: Patients assigned laparoscopic resection
               had less blood loss compared with those assigned open resection
               (median 100 mL [range 0-2700] vs 175 mL [0-2000], p<0.0001),
               although laparoscopic surgery lasted 30 min longer than did open
               surgery (p<0.0001). Conversion to open surgery was needed for 91
               (17\%) patients undergoing the laparoscopic procedure.
               Radicality of resection as assessed by number of removed lymph
               nodes and length of resected oral and aboral bowel did not
               differ between groups. Laparoscopic colectomy was associated
               with earlier recovery of bowel function (p<0.0001), need for
               fewer analgesics, and with a shorter hospital stay (p<0.0001)
               compared with open colectomy. Morbidity and mortality 28 days
               after colectomy did not differ between groups. INTERPRETATION:
               Laparoscopic surgery can be used for safe and radical resection
               of cancer in the right, left, and sigmoid colon.",
  journal   = "Lancet Oncol.",
  publisher = "Elsevier BV",
  volume    =  6,
  number    =  7,
  pages     = "477--484",
  month     =  jul,
  year      =  2005,
  language  = "en"
}
@incollection{intro-rmis,
title = {1 - Introduction to robot-assisted minimally invasive surgery (MIS)},
editor = {Paula Gomes},
booktitle = {Medical Robotics},
publisher = {Woodhead Publishing},
pages = {1-P1},
year = {2012},
series = {Woodhead Publishing Series in Biomaterials},
isbn = {978-0-85709-130-7},
doi = {https://doi.org/10.1533/9780857097392.1},
url = {https://www.sciencedirect.com/science/article/pii/B9780857091307500016},
author = {V. Vitiello and K.-W. Kwok and G.-Z. Yang},
keywords = {minimally invasive surgery, medical robotics, robot-assisted surgery, virtual fixtures, perceptual docking},
abstract = {Abstract:
It is well recognised that the performance of minimally invasive surgery (MIS) imposes an increasing burden on surgeons’ manual dexterity and visuomotor control. Tissue deformation, restricted workspace, and a limited field-of-view make manual operation of the procedure difficult. With the advent of robot assisted MIS, manual dexterity is enhanced by microprocessor controlled mechanical wrists, allowing motion scaling and tremor removal. Further enhancement of three-dimensional (3D) vision and intra-operative image guidance permits improved clinical uptake of the technology, ensuring better operative safety and consistency. This chapter provides a detailed overview of robotic surgical systems and introduces recent developments in the integration of synergistic controls such as virtual fixtures, dynamic active constraints, and perceptual docking.}
}
@article{force-sensing,
  author    = {Amir Hossein Hadi Hosseinabadi and
               Septimiu E. Salcudean},
  title     = {Force Sensing in Robot-assisted Keyhole Endoscopy: {A} Systematic
               Survey},
  journal   = {CoRR},
  volume    = {abs/2103.11123},
  year      = {2021},
  url       = {https://arxiv.org/abs/2103.11123},
  eprinttype = {arXiv},
  eprint    = {2103.11123},
  timestamp = {Wed, 24 Mar 2021 15:50:40 +0100},
  biburl    = {https://dblp.org/rec/journals/corr/abs-2103-11123.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}
@INPROCEEDINGS{bone-cutter,

  author={Gordon, Alex and Looi, Thomas and Drake, James and Forrest, Christopher R.},

  booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)}, 

  title={An Ultrasonic Bone Cutting Tool for the da Vinci Research Kit}, 

  year={2018},

  volume={},

  number={},

  pages={6645-6650},

  doi={10.1109/ICRA.2018.8460797}}
 
@article{soft-manip,
author = {Alessandro Diodato and Margherita Brancadoro and Giacomo De Rossi and Haider Abidi and Diego Dall’Alba and Riccardo Muradore and Gastone Ciuti and Paolo Fiorini and Arianna Menciassi and Matteo Cianchetti},
title ={Soft Robotic Manipulator for Improving Dexterity in Minimally Invasive Surgery},
journal = {Surgical Innovation},
volume = {25},
number = {1},
pages = {69-76},
year = {2018},
doi = {10.1177/1553350617745953},
    note ={PMID: 29303068},

URL = { 
        https://doi.org/10.1177/1553350617745953
    
},

    abstract = { Background. Combining the strengths of surgical robotics and minimally invasive surgery (MIS) holds the potential to revolutionize surgical interventions. The MIS advantages for the patients are obvious, but the use of instrumentation suitable for MIS often translates in limiting the surgeon capabilities (eg, reduction of dexterity and maneuverability and demanding navigation around organs). To overcome these shortcomings, the application of soft robotics technologies and approaches can be beneficial. The use of devices based on soft materials is already demonstrating several advantages in all the exploitation areas where dexterity and safe interaction are needed. In this article, the authors demonstrate that soft robotics can be synergistically used with traditional rigid tools to improve the robotic system capabilities and without affecting the usability of the robotic platform. Materials and Methods. A bioinspired soft manipulator equipped with a miniaturized camera has been integrated with the Endoscopic Camera Manipulator arm of the da Vinci Research Kit both from hardware and software viewpoints. Usability of the integrated system has been evaluated with nonexpert users through a standard protocol to highlight difficulties in controlling the soft manipulator. Results and Conclusion. This is the first time that an endoscopic tool based on soft materials has been integrated into a surgical robot. The soft endoscopic camera can be easily operated through the da Vinci Research Kit master console, thus increasing the workspace and the dexterity, and without limiting intuitive and friendly use. }
}
@INPROCEEDINGS{needle-grasp,  author={Liu, Taoming and Çavuşoğlu, M. Cenk},  booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)},   title={Optimal needle grasp selection for automatic execution of suturing tasks in robotic minimally invasive surgery},   year={2015},  volume={},  number={},  pages={2894-2900},  doi={10.1109/ICRA.2015.7139594}}


@ARTICLE{other-rmis-machines,

  author={Kumar, Suren and Singhal, Pankaj and Krovi, Venkat N.},

  journal={IEEE Design   Test}, 

  title={Computer-Vision-Based Decision Support in Surgical Robotics}, 

  year={2015},

  volume={32},

  number={5},

  pages={89-97},

  doi={10.1109/MDAT.2015.2465135}}
  
@misc{da-vinci-catalogue,
    title = {Da Vinci Xi: Instrument \&
Accessory Catalog},

    author = "{Intuitive Surgical}",
    url = {https://www.intuitive.com/en-us/-/Media/ISI/Intuitive/pdf/davinci-x-xi-instrument-accessory-us-catalog-1052082.pdf},
}
@INCOLLECTION{Fernandez-de_Thomas2022-ih,
  title     = "Craniotomy",
  booktitle = "{StatPearls}",
  author    = "Fern{\'a}ndez-de Thomas, Ricardo J and De Jesus, Orlando",
  abstract  = "A craniotomy is a surgical procedure in which a part of the
               skull is temporarily removed to expose the brain and perform an
               intracranial procedure. The most common conditions that can be
               treated via this approach include brain tumors, aneurysms,
               arterio-venous malformations, subdural empyemas, subdural
               hematomas, and intracerebral hematomas. Specialized tools and
               equipment are utilized to remove the section of bone, which is
               called the bone flap. The bone flap is temporarily removed, held
               at the surgical instrument table, and then placed back after the
               brain surgery has concluded. In some cases, depending on the
               etiology and indication for the procedure, the bone can be
               discarded, stored in the abdominal subcutaneous space, or
               cryopreserved under cold storage conditions. If the bone flap is
               discarded or not placed back into the skull during the same
               operation, the procedure is called a craniectomy. In a
               decompressive craniectomy used for the treatment of malignant
               brain edema, the bone flap is placed back a few weeks after the
               brain swelling has improved. The surgical procedure to
               reconstruct and place the bone flap back into the skull during a
               second intervention is known as cranioplasty. From a historical
               context and perspective, cranial interventions varied from a
               single burr hole trephine to a larger craniectomy. Modern
               craniotomies are performed by connecting a series of burr holes.
               Although trephination is the oldest cranial surgical technique
               with ancient reports dating back to 2300 years, our current
               modern surgical technique for a craniotomy is the final cured
               result of the procedure introduced at the end of the 19th
               century by the self-educated surgeon Wilhelm Wagner. Although it
               was much later in the course of history that the transition from
               trephination to a tailored resection via craniotomy happened,
               ancient civilizations, such as the Incas in Peru, must have had
               some basic familiarity with anatomy and surgical interventions
               despite their rudimentary knowledge of pathology. Depending on
               the type of intracranial lesion, pathology, and the surgical
               approach, some craniotomy procedures can be assisted by
               neuronavigation guidance based on magnetic resonance imaging or
               computed tomographic scans to tailor the procedure to the size
               of the tumor using the smallest incision possible.
               Neuronavigation is a modern computerized technology that can
               help surgeons localize the pathology more precisely by merging a
               series of craniofacial points in the patient. Neuronavigation
               offers better guidance, orientation, and localization. It
               provides a higher level of confidence for the surgeon and an
               improved outcome for the patient.",
  publisher = "StatPearls Publishing",
  month     =  jan,
  year      =  2022,
  address   = "Treasure Island (FL)",
  language  = "en"
}

@INCOLLECTION{Fernandez-de_Thomas2022-ih,
  title     = "Craniotomy",
  booktitle = "{StatPearls}",
  author    = "Fern{\'a}ndez-de Thomas, Ricardo J and De Jesus, Orlando",
  abstract  = "A craniotomy is a surgical procedure in which a part of the
               skull is temporarily removed to expose the brain and perform an
               intracranial procedure. The most common conditions that can be
               treated via this approach include brain tumors, aneurysms,
               arterio-venous malformations, subdural empyemas, subdural
               hematomas, and intracerebral hematomas. Specialized tools and
               equipment are utilized to remove the section of bone, which is
               called the bone flap. The bone flap is temporarily removed, held
               at the surgical instrument table, and then placed back after the
               brain surgery has concluded. In some cases, depending on the
               etiology and indication for the procedure, the bone can be
               discarded, stored in the abdominal subcutaneous space, or
               cryopreserved under cold storage conditions. If the bone flap is
               discarded or not placed back into the skull during the same
               operation, the procedure is called a craniectomy. In a
               decompressive craniectomy used for the treatment of malignant
               brain edema, the bone flap is placed back a few weeks after the
               brain swelling has improved. The surgical procedure to
               reconstruct and place the bone flap back into the skull during a
               second intervention is known as cranioplasty. From a historical
               context and perspective, cranial interventions varied from a
               single burr hole trephine to a larger craniectomy. Modern
               craniotomies are performed by connecting a series of burr holes.
               Although trephination is the oldest cranial surgical technique
               with ancient reports dating back to 2300 years, our current
               modern surgical technique for a craniotomy is the final cured
               result of the procedure introduced at the end of the 19th
               century by the self-educated surgeon Wilhelm Wagner. Although it
               was much later in the course of history that the transition from
               trephination to a tailored resection via craniotomy happened,
               ancient civilizations, such as the Incas in Peru, must have had
               some basic familiarity with anatomy and surgical interventions
               despite their rudimentary knowledge of pathology. Depending on
               the type of intracranial lesion, pathology, and the surgical
               approach, some craniotomy procedures can be assisted by
               neuronavigation guidance based on magnetic resonance imaging or
               computed tomographic scans to tailor the procedure to the size
               of the tumor using the smallest incision possible.
               Neuronavigation is a modern computerized technology that can
               help surgeons localize the pathology more precisely by merging a
               series of craniofacial points in the patient. Neuronavigation
               offers better guidance, orientation, and localization. It
               provides a higher level of confidence for the surgeon and an
               improved outcome for the patient.",
  publisher = "StatPearls Publishing",
  month     =  jan,
  year      =  2022,
  address   = "Treasure Island (FL)",
  language  = "en"
}


@article{blood-suck,
  author    = {Florian Richter and
               Shihao Shen and
               Fei Liu and
               Jingbin Huang and
               Emily K. Funk and
               Ryan K. Orosco and
               Michael C. Yip},
  title     = {Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis
               using Image-based Blood Flow Detection},
  journal   = {CoRR},
  volume    = {abs/2010.08441},
  year      = {2020},
  url       = {https://arxiv.org/abs/2010.08441},
  eprinttype = {arXiv},
  eprint    = {2010.08441},
  timestamp = {Fri, 17 Dec 2021 07:48:20 +0100},
  biburl    = {https://dblp.org/rec/journals/corr/abs-2010-08441.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}
@INPROCEEDINGS{mask-rcnn,

  author={He, Kaiming and Gkioxari, Georgia and Dollár, Piotr and Girshick, Ross},

  booktitle={2017 IEEE International Conference on Computer Vision (ICCV)}, 

  title={Mask R-CNN}, 

  year={2017},

  volume={},

  number={},

  pages={2980-2988},

  doi={10.1109/ICCV.2017.322}}
  
@article{bones-are-hard,
author = {Wu, Wei‐wei and Zhu, Yan‐bin and Chen, Wei and Li, Sheng and Yin, Bing and Wang, Jian‐zhao and Zhang, Xiao‐juan and Liu, Guo‐bin and Hu, Zu‐sheng and Zhang, Ying‐ze},
year = {2019},
month = {03},
pages = {},
title = {Bone Hardness of Different Anatomical Regions of Human Radius and its Impact on the Pullout Strength of Screws},
volume = {11},
journal = {Orthopaedic Surgery},
doi = {10.1111/os.12436}
}