0. Introduce ME@SJTU
1.Background2.Development Tendency of Surgery
3.Characteristics of Robotic Aided Surgery

AppliedResearchonRoboticAidedSurgery

4.Orthopedic Surgical Robotics
5.Interventional Surgical Robotics

Prof.QixinCao（曹其新）
ShanghaiJiaoTongUniversity
July20,2017
qxcao@sjtu.edu.cn

6.Endoscopic Surgical Robotics
7.Conclusion and Outlook
http://robolab.sjtu.edu.cn

机械与动力工程学院上溯于1913年上海工业专门学校设立的电气机械科，是上海交通大学历史最

学院位于上海交通大学闵行校区（主校区），南临黄浦江，毗邻国家级高新技术园区紫竹科学园。

悠久的院系之一。在机械与动力工程学院的发展史
上，创造了许多中国第一：中国最早的内燃机、第一台自动扶梯等等。更为引以自豪的是，新中国的第一艘万吨轮，第一艘核潜艇、第一颗原子弹、第一枚运载火箭、第一颗人造卫星、第一架超音速民航客机……许多都是在学院校友的主持和直接参与
下完成的，在1999年国务院表彰的两弹一星功臣中

学
生
规
模

 学生总数: 约5000人
 博 士 生：160/年
 工学硕士：430/年
 工程硕士：450/年
 本 科 生：430/年

教
师
队
伍

 教职工数: 430人
 教
师：330人 正 高 职：123人
 副 高 职：132人
 中级职称： 75人

学
院
楼
群

 总面积: 5.2万平方米 教师办公大楼
 先进制造大楼 热动基地大楼
 汽车工程大楼，钱学森、王希季等均毕业于机械与动力工程学院。改革开放以来，机械与动力工程学院以创建世界
知名学院为奋斗目标，综合实力得到快速提升。

数 说 机 动 学 院 这 十 年 ------ 学
科建设百年历史，英才辈出学院创立于1913年，培养了14000+ 校友
50余名两院院士，一批杰出的科学家、教育家、实业
家和政治家；包括两弹一星元勋钱学森、王希季等
许多院友成为现代中国工业的先驱, 在航天、航空、
能源、制造装备、潜艇、燃气轮机等行业做出杰出贡献

在教育部一级学科评估中，机械工程学科连续两次居全国
1st 之首，动力工程及工程热物理学科名列第三，核科学与技
术排名第五。

2 新增国家自然科学基金委创新群体 2 个：“复杂装备的数字化设计”
“传热传质与高效热力系统的基础研究”“复杂装备的数字化设计”获得国家自然科学基金委员会的Ⅲ期延续资助，是学校首个资助期为9年的创新群体。

百年学科庆典（北京人民大会堂）

百年院庆

数 说 机 动 学 院 这 十 年 ------ 一流
师资队伍

数 说 机 动 学 院 这 十 年 ------ 实验室建设

3 十年间，学院新增3名中国工程院院士、中国科学院院士。新4 机械系统与振动国家重点实验室增千人计划教授13人，长江学者教授9人，国家杰出青年基金
获得者6人，优秀青年基金获得者6人。
学院现有教师330人，其中正高职123人。
学院人才计划清单
6人

长江学者特聘/讲座教授

18人

千人计划

13人

青年千人

5人

973首席科学家

6人

上海千人

8人

杰出青年基金获得者

14人

青年拔尖人才1人

基金委创新群体2个

优秀青年基金获得者

6人

教学名师

4人

新世纪百千万人才工程

7人

5人

何梁何利

汽车电子控制技术国家工程实验室、燃煤污染物减排国家工程实验室（上海）振动冲击噪声国防重点学科实验室
5个省部级重点（工程）实验室和工程中心

两院院士

市科技精英、领军人才4个国家级重点实验室：

3人

6个学科交叉平台动力机械与工程教育部重点实验室

能源研究院

太阳能发电与制冷教育部工程研究中心

汽车工程研究院

上海市复杂薄板结构数字化制造重点实验室燃气轮机研究院

上海市网络制造与企业信息化重点实验室航空发动机研究院

上海核电工程技术研究中心

核电技术与装备工程研究中心
上海智能制造研究院

数 说 机 动 学 院 这 十 年 ------ 科研经费与成果数 说 机 动 学 院 这 十 年 ------ 国际化办学5亿 2015年科研经费增长至近5亿，比2006年增长了200%。

与美国密西根大学、普渡大学、卡尔斯鲁厄大学等近30＆
30% 30所学校进行高水平合作办学，通过设置全英文课程、引十年间，学院以第一完成单位获得国家、省部级奖89项

近十年学院国家科学技术奖获奖进先进课程体系，实施不同类型留学形式（学位生、交流

一、国家自然科学二等奖•纳微尺度流体流动与传热传质的基础研究郑平 等•并联机器人机构拓扑与尺度设计理论高峰 等•燃料设计理论及其控制内燃机燃烧与排放的基础研究黄震 等•吸附式制冷的吸附机理、循环构建及热设计理论王如竹 等

交换生、海外实习生等），比例达30%。
近十年，4300多人次赴海外参加各类学术交流活动

二、国家技术发明二等奖•太阳能空调与高效供热装置与应用王如竹 等，开展各类国际合作研究近550项。

三、国家科技进步二等奖汉 等•工业机器人作业系统的关键技术研究、开发与应用丁•高性能尾气净化器柔性制造关键技术及成套装备

刘成良 等•复杂薄板产品装配的数字化工艺设计与装备技术林忠钦 等

学院近五年接收学位留学生113人，交流生294人。

职业规划与就业：研究生国际合作培养学校分布：
与世界近30所著名大学建立了研究生合作培养计划。
实施硕博联合培养，学分与学位互认、联合授予学位。



2015届研究生就业率99.6%，就业领域专业对口率93.1%；

建设国家级实习实践基地16个，就业实习合作单位200余家；

每年国家重点行业、大型央企集团、世界500强外企专场招聘会60余场；开展全程、多维职业规划教育，聘请央企及世界500强企业人力资源高管担任学生职业生涯导师；

研究生就业能力和就业质量全国领先，机械与动力工程学院在全校30个院系中，近6年中5次获得全校唯一的就业质量特等奖

欧洲

亚洲

美洲

1.背

景

Background

Chineseannualsalesofrobotsisrunningfirstintheworldforfourconsecutiveyears
Governmentsanddepartmentsareputtingtherobotindustrydevelopmentfirstplace

0. Introduce ME@SJTU
1.Background2.Development Tendency of Surgery
3.Characteristics of Robotic Aided Surgery
4.Orthopedic Surgical Robotics

Servicerobots

5.Interventional Surgical Robotics

AFF robots

6.Endoscopic Surgical Robotics

Components
Industrial
robots7.Conclusion and Outlook

1.背景Service robot world market share in 2013

1.背Background
Medical robot national market share in 2013

景Background

Medical instruments industrial value form 2016 to 2021

Searching N um about Surgical Robots on O fw eek W eb

C ounts

5%

6000008050000060

40000040

30000020200000

Medical robot market chart

Robot
机器人

SurgicalRobots手术机器人

1000000
Unit: 100 million RMB

Seraching Num on Google

100

2012

2013

2014

2015
Years

2016

2017

0
2012

2013

2014

2015

2016

Increasing demand for minimally invasive diagnosis and treatment procedures, growthof the elderly population, deterioration of the global environment, unhealthy eating
habits and the unhealthy lifestyles, alcohol consumption, and the lack of physicalexercise on the urban population, all these factors have greatly increased the incidenceof surgery; thus surgical robots will be another big share in robot market cake besides
industrial robot.

1.背

景

BackgroundThehealthcaremarketwill
exceed10trillionby2020:

Medical instruments：Medicine

Bullmarketformedical
industryinnext15years Hospital privatization
 Hospital independency
 Population aging
 Diagnosis and treatment
decentralization
 Telemedicine popularization
 Medical instruments
intelligentization
 Product localization

0. Introduce ME@SJTU

1:3
China：Developed Countries 1:1

annual growth rate is over 20%
for medical equipment and over
30% for surgical robots

1.Background

Surgical Navigation：
USA 4000sets China 150sets
Surgical Robots：
USA 3000sets China 62sets“HealthChina2030”
Chinese healthy development
guideline for the next 15 years

2.Development Tendency of Surgery
3.Characteristics of Robotic Aided Surgery

Advantages：
Higher precision, less blood
loss, avoid damage fromhand shake, better safety forboth doctor and patients,
higher surgical efficiency, lessworkload etc.

4.Orthopedic Surgical Robotics
5.Interventional Surgical Robotics
6.Endoscopic Surgical Robotics
7.Conclusion and Outlook"2016-2020 China Medical robot industry depth research and investment prospects report" from CIC said that, the global medical robot industry annual revenue
had reached 7.47 billion US dollars by January 2016, and is expected to be stable with compound annual growth rate of 15.4% in 5 years; the market size of the
global medical robot is expected to reach $ 11.4 billion by 2020. Among them, surgical robots accounted for about 60% market share. Medical robot market
focus will be gradually transferred from North America to Asia, and China's industrial development can be worth expecting.

2.動

向

2.動

Development tendency

向Development tendency

daVinci 多孔机器人统治与模仿的十年单孔手术机器人

Surgical robotics: Reviewing the past, analysing the present,imagining the future
Paula Gomes Cambridge Consultants, Science Park, Milton Road, Cambridge CB4 0DW, UK

Surgical robotics Timeline

In 1985, Puma 560 industrial robot was used to try to assist in brain biopsy in UAS, which could control
neurosurgical biopsy accurately. Itis the initial prototype of the surgical robot and exploration. In 1988,
Puma 560 was used in prostate surgery, and it contributed to the emergence of PROBOT, which was asystem specifically designed for prostate surgery. It is the first surgical robot to be used exclusively forsurgery.

2.发展趋势The technology of the DaVinci
Surgical Robot was derived fromthe Stanford Institute (SRI) withthe official background. At theend of the 1980s, a group of
scientists started the R&D of thesurgical robots at the Stanford
Institute, which was intended todevelop a robot for battlefield.
The real name of the DaVinci
Surgical Robot should be"Endoscopic Surgical Instrument
Control System“, and is the mostsuccessful and widely usedsurgical robot in the world.

2.動向Traditional
Open surgery

Development tendency
Traditional
MIS

Robot assisted
Multi-hole MIS

Vascularinterventional

ClinicDevelopment tendency

Wound

向

Instrument

2.動

低侵襲手術，インテリジェント化

Development tendency
0. Introduce ME@SJTU
1.Background2.Development Tendency of Surgery
3.Characteristics of Robotic Aided Surgery
4.Orthopedic Surgical Robotics
5.Interventional Surgical Robotics
6.Endoscopic Surgical Robotics
7.Conclusion and Outlook

http://news.sznews.com/content/2016-05/27/content_13417094.htm

Traditional
SPS

Robot
assisted SPS

3.特

徴

3.特

Main characteristics

徴

Main characteristics（AI+BigDATA）

Intelligent control
systemServo actuation
systemComponent technology

Sensing system

Intelligent robotics

3.特徴

Perception+

Main characteristics

ComputerAided
Surgery MIS offers many advantages over the traditional surgery methods.
 The surgical robot is a cross-study of medicine, robotics, mechanics, biomechanics, computer technology andmany other scientific research works, its ultimate goal is not to replace the surgeon, but work as an auxiliary tool
to expand the doctor's surgical ability, improve the quality of surgery, and reduce the intensity of the doctor's work.

3.特徴

The tomographic image or 3D CG is displayed on the computer, andthe scene of surgical site is displayed on the CG in real time during theoperation. A more advanced technique that correctly overlaps the actual
space observed by the physician with the virtual space information to
construct an augmented realistic environment for the navigation of thesurgical operation.

Main characteristics

Application

1

Navigation

Surgical instruments
assistant positioning

Treatment

Active surgical forceps
Master slave manipulators

The three-dimensional construction information of the organ can be
Surgical obtained by X-ray, MRI, CT and other measurement techniques, and the
Navigation 3D model of the object can be established. Combine functional andanatomical information together with the model, the surgical integrated
planning and navigation can be established with previous surgicalsimulations.

SurgicalInstruments

TeleOperation

Surgical planning information can be used to assist the doctor tocontrol mechanical system and the instruments for high-precision
surgical operation and remote surgery. The teleoperation is not a simple
physical separation, but also extend the physician's arms to regions thatcan not reached normally.

Passive

2

Operation

Categories
3

Control

ActiveSurgeon’s action restriction
and correction
Generate active force to act

The 3D position
Preoperative planning
data constituted by the preoperative image detects thelesion, guides the surgical instrument, or performs a
resection

Intraoperative operation
for surgeon during operations

Auxiliary device

4.整形外科
0. Introduce ME@SJTU
1.BackgroundTraditional
orthopedic
surgery
Preoperative acquisition of X-rays

2.Development Tendency of Surgery
3.Characteristics of Robotic Aided Surgery
4.Orthopedic Surgical Robotics

7.Conclusion and Outlook

Preoperative acquisition of X-rays

Orthopaedic surgery

Artificial operation

Surgical design

Intraoperative precise navigation,
robot assisted precise medical care

Futureorthopedic
surgery
Digitization

4.整形外科

Preoperative planning

Modernorthopedic
surgery

5.Interventional Surgical Robotics
6.Endoscopic Surgical Robotics

Orthopaedic surgery

4.整形外科All three-dimensional visualization Intelligent robotic assisted teleoperation

Orthopaedic surgery

Prof.Qixin Cao’s research team from SJTU, UEG Medical Group Ltd. and Shanghai Ninth
People’s Hospital together developed the Surgical Navigation and Planning Software

4.整形外科

4.整形外科

Orthopaedic surgery

Orthopaedic surgery

SJTU Robolab V-IISJTU Robolab V-I

Mazor Robotics’ Renaissance® system

4.整形外科

Prof.Qixin Cao’s research team from SJTU, Fuer robot Ltd. and Shanghai First People’s
Hospital cooperated to develop the Spinal surgical robot system

AcuBot

4.整形外科

Orthopaedic surgery• Virtual assistant navigation ：Outside accessing pose adjustment is much limited by surgeon’s judgement anddetermination, which may cause instability, inaccuracy and inefficiency for intraoperative robotic operations.
 Feasible and convenient method: Realtime virtual extended navigation lines along the instruments based on
obtained CT images can greatly help the decision making process for surgeons.

Orthopaedic surgery• Previous prototype for robotic assisted spinal surgery
ForcesensorSlave Robot
Drill

CameraPacient model•

Feasible/applicable•

Convenient•

EfficientThe operation
platform

Omega.7

 Attracting ongoing method: Augmented reality (AR) based navigation will greatly help the decision making
process for surgeons.

Master control
console— W.Bai, Q.Cao et al. Force Control in a Robotic System for Spinal Surgery. ACCAS 2014

4.整形外科

Orthopaedic surgery

4.整形外科

Orthopaedic surgery

4.整形外科

Orthopaedic surgery

 Robotic assisted spinal MIS:
improve precision, efficiency, safety, stability, ergonomics etc.
 Master-slave teleoperation:
avoid radial damage, real time adjusting and accessing
 Specialized and miniatured design:clinic friendly, clinical applicable, easy to control and use
 Image processing & AR assisted:achieve advanced planning and guidance / navigation

Surgical robotic system architecture

4.整形外科

Robotic control algorithms scheme

Orthopaedic surgery

12

Method:miniatured
parallel robot
analysis

10
8
6MAX. ANGLE/ °• Manipulability or dexterity of the parallel robot’s moving plate varies as the height
grows within its arrange, and shows a similar parabolic trend.

• Remote center of motion control for the front-end of the instrument, which is the mostimportant procedure during the intraoperative teleoperation adjustment.

10.7
9.6
8.9
7.7

7.2
5.9

5.3
3.9

3.2

4

±8.5
°

2
0

0

0
0

20

パラレルロボット
6サーボ電動パター: the max. of the tilt angle ( ) of the moving plate: the height or center distance between two plate’s center

40

60
HEIGHT/MM

±8.5
°
±6.5
°
±4.7
°
±2.3
°

±6.5
°
±4.7
°
±2.3
°

1.The miniatured parallel robot can just offer
fine tuning for the end orientation of the needle.
2.The feeding or approaching process makethe orientation adjustment more and more
limited and difficult.

4.整形外科

4.整形外科

Orthopaedic surgery

Orthopaedic surgery

Method: virtual assistant navigation
 Outside accessing pose adjustment is much limited by surgeon’s judgement and determination,
which may cause instability, inaccuracy and inefficiency for intraoperative robotic operations.
 Feasible and convenient method: Realtime virtual extended navigation lines along the
instruments based on obtained CT images can greatly help the decision making process forsurgeons.

•

Feasible/applicable•

Convenient•

Efficient Attracting ongoing method: Augmented reality (AR) based navigation will greatly help the decision
making process for surgeons.

4.整形外科

Orthopaedic surgery

Spinal Surgery Robot System

4.整形外科

Orthopaedic surgery

Preoperative extensive adjustment ＋Intraoperative fine tele-adjustment ＋ Surgical insertion

Clinically specialized robot system and experiments

5.介入手術Interventional surgery

0. Introduce ME@SJTU
1.Background2.Development Tendency of Surgery
3.Characteristics of Robotic Aided Surgery
4.Orthopedic Surgical Robotics
5.Interventional Surgical Robotics
6.Endoscopic Surgical Robotics
7.Conclusion and Outlook

5.介入手術Interventional surgery

Intervention process are conducted under the guidance and supervision of imaging
equipments, which enables accurately accessing to the lesion directly to the local,
without large trauma. Thus advantages like accurate, safe, efficient, wide indications,fewer complications have make it the preferred treatment for many diseases.

Thrombosis is the formation of a blood clot inside a blood vessel, obstructing the flow ofblood through the circulatory system. Interventional therapy uses modern high-tech meansof a minimally invasive treatment, which guides wire and other sophisticated instruments
like special catheter under the guidance of medical imaging equipment into the body andconducts body pathological diagnosis and local treatment.

5.介入手術Interventional surgery

5.介入手術Interventional surgery

5.介入手術Interventional surgery

Cardiovascular minimally invasive interventional robotic system mainly includes catheter/guide wire
propulsion mechanism, propulsion mechanism of the auxiliary positioning device and propulsion operating device.
Propulsion mechanism is the core device for interventional robots.

Amigo Propulsion mechanism

The Magellan Robotic System

5.介入手術Interventional surgery

Prof.Bo Yu's team from Fudan University Affiliated Pudong Hospital developed thedomestic remote digital vascular interventional robot and completed animal total cerebral
angiography successfully

5.介入手術Propulsion mechanism from Beihang Univ

Propulsion mechanism from HIT Univ

Propulsion mechanism from Imperial College London Propulsion mechanism from Kagawa Univ

Interventional surgery

Prof.Qixin Cao’s research team from SJTU and Shanghai First People’s Hospitaldeveloped Laser venous closure assistant prototype

6.内視鏡手術

Endoscopic surgery

Laparoscopicsurgery

0. Introduce ME@SJTU

01

Cholecystectomy, Appendectomy、Gastricperforation repair, Liver cyst fenestration,
Splenectomy, Drainage of hepatic abscess,
Ascites checking, Neoplasm recurrence

1.Background2.Development Tendency of Surgery

Thoracoscopicsurgery

Diagnostic surgery and Curative
surgery：pleura, lung, Mediastinum,
Pericardial disease, Thoracic trauma,
Esophageal disease

3.Characteristics of Robotic Aided Surgery
4.Orthopedic Surgical Robotics

02

Endoscopic
MIS

Gynaecologicsurgery

5.Interventional Surgical Robotics

Hysteroscopy, Peritoneoscope,
Colposcope

6.Endoscopic Surgical Robotics

Urologysurgery

7.Conclusion and Outlook

Bladder cutting, Ureteroscope,
Percutaneous nephrolithotomy

03
04

Arthroscopicsurgery

6.内視鏡手術6.内視鏡手術

Endoscopic surgery

Endoscopic surgery

Multi-KeyHole Endoscopic Surgical Robots Development History
BriefsummarybasedR&Dexperiences:keytechnicalaspects

Master–SlaveConfiguration

synthesisofslave Goodsurgical
manipulatorssurgicalrobot

mapping

Surgicalrobot

SurgicalHand-eyesystemsimulation

coordination

security，

andtraining

Ergonomic

reliability

systemEmergency

Modular

managementdesigndesignand
systemintegration

andforcepswith
enoughdexterity
and

Arms

manipulability

coordinated
controlstrategy

Clinical
experiment
and
examination
Medical
instrument
certification

 In 1994, Computer Motion Company from USA developed AESOP-1000,
and released the improved version AESOP-2000, AESOP-3000 later.
 In 1995, IBM Developing Center and John Hopkins University from USA
cooperated and developed HISAR and LARS, LARS used the remote
center of motion mechanism(RCM) In 1995, NASA and MicroDexterity Inc. developed MicroDexterity
 In 1998, Computer Motion Company from USA developed ZEUS
 In 2000, Intuitive Surgical Company from USA developed da Vinci Surgical
System and got clearance from FDA in 2001. It merged with Computer
Motion in 2003 and combined the technic from ZEUS, then developed thecurrent Da Vinci series
 In 2009, DLR from Germany developed DLR MiroSurge, which realized force
feedback in the tele-surgery by installing six-axis force sensor in the forceps
 In 2012，seven universities in USA cooperated to develop the Raven surgicalrobot system，which realized distributed system based on open source ROS• First Robot assistant
MIS system•

First got FDA Clearance
RCM
First Master-Slave
Teleoperation surgicalrobot system
First General Type MIS
robot system
DaVinci Surgical Robot
Force feedback
Open Source…

6.内視鏡手術

Endoscopic surgery

6.内視鏡手術

Endoscopic surgery

In 1996, Computer
Motion Company
developed ZEUS and
got FDA clearance in
2001. And it was
stopped production
until the Intuitive
Surgical Inc. andComputer Motion
Inc. merged in 2003.

AESOP (Automated Endoscopic System for Optimal Positioning), is the world's first endoscopic
minimally invasive surgical robot developed by Computer Motion in 1991. In 1994, AESOP1000
surgical robots got the clearance form US Federal Drug Administration (FDA).

6.内視鏡手術

Endoscopic surgery

da Vinci system launched by Intuitive Surgical Inc.in 1998 become the most successful case formulti-keyhole surgical robots: technical development, clinic application, marketing

6.内視鏡手術

Endoscopic surgery

da Vinci Multi-KeyHole Surgical Robot Systemda Vinci Single Port Surgical Robot System

6.内視鏡手術

Endoscopic surgery

By Feb.2016, the total number of installations in the world reached 3745, and
58 in China( 62 by Jan.2017)

In 2015, the annual number of surgeries assisted by da Vinci reached 620,000

6.内視鏡手術

Endoscopic surgery

6.内視鏡手術

Endoscopic surgery

In 2005, Washington University, UC Santa Cruz and other units together developed Raven
II system, and they have released Raven IV. It is more compact, portable and cheaper thanda Vinci system.

6.内視鏡手術

Endoscopic surgery

Titan：Amadeus Robotic Surgical System

In 2006, Nagoya University(Japan) developed the Hyper Finger system. Its manipulator is small, which
can be used in a small or deep space for surgery like ENT and esophageal surgery.
In 2008, Waseda University(Japan) developed a robotic system that could operate on the beating heart thatwas placed on a 6-DOF parallel robot platform to simulate the beating of the heart.
In 2010, Tokyo Institute of Technology(Japan) developed a surgical robot system that achieved threedimensional force detection based on pneumatic servo drive technic.

DLR：MiroSurge

TransEnterix：TELELAP ALF-X

Washington Uni：RAVEN

Front Key Technologies for Multi-KeyHole Surgical robots:
Ergonomics Design

Open endoscope

Instrument repeatability Overall economy

Haptic and tactile feedback

Distributed layout

Eye movement following control

Open framework

6.内視鏡手術

Endoscopic surgery

Tianjin University and Tianjin Medical University together developed microsurgicalrobotic “MicroHand” system

6.内視鏡手術

Endoscopic surgery

6.内視鏡手術

Endoscopic surgery

Endoscopic surgical robot developed by HIT Univ.

6.内視鏡手術

Endoscopic surgery

Highlights
3D display with naked eyes
Eye tracking and control
Componentized and collaborative
control
Virtual fixture
Arm driven without wirerope
Simulation and distributed control
with ROS
Ergonomic design

Endoscopic MIS system by BOSHI Ltd.

Prof.Qixin Cao’s research team from SJTU , Jinshan Group and Prof. Pan from Shanghai
Second Military ---- jointly developed “JiaoLong” Surgical Robot System

6.内視鏡手術

6.内視鏡手術

Endoscopic surgery

Endoscopic surgery

…

Node
Linux

……

Expanded
RTC

RTC
Network layer

Expanded
RTC

Node
Node

Node

Node

…

Linux

Master side control system software

ROS
RTC

RTC
Node

Node

Control
Driver layer processing layer

ROS
Node

Master side
Harware• Proposed the novel ROS + RTC robotic control system architecture

Slave side control system software

RTC
Control
Network layer processing layer Driver layer

Slave side
HardwareExperiments with the Multi-KeyHole MIS system “JiaoLong” from SJTU Prof. Cao team6.内視鏡手術6.内視鏡手術

Endoscopic surgery• Performance test for the proposed the novel ROS + RTC robotic control system•• Master Slave TeleOperation Single
Trip Time Delay Average Value:
23.6ms• RTC Communication Round Trip
Time Delay Average Value:
24.4ms, Single Time Delay: 12.2ms• The RTC new control
system with proposednovel architecture canachieve good following
performance。

Hand eye coordinate master slave control

Endoscopic surgery•

Virtual fixture security mechanism

6.内視鏡手術

6.内視鏡手術

Endoscopic surgery

Single Port Endoscopic Surgical Robots

Endoscopic surgery

Overseas Researches of Endoscopic SPS Robots

In 2009,J.R.Romanelli and D.B.Earle from USA developed a surgical device that got three access throughsingle port. It needs manual operation.
This kind of manual
devices belongs nolonger to Single Port
Robotic Systemcurrently.

In 2009, C.Ishii from the school of engineering at the university of Chicago and K.Kobayashi from Toyota
Company developed a kind of manipulator using rotation and DSD mechanism.

SPRINT CRIM Lab, Scuola Superiore Sant’Anna, Italy

6.内視鏡手術

Endoscopic surgery

Domestic Researches of Endoscopic SPS Robots

HIT, Flexible joints with superelastic Nitinol alloy pipe

6.内視鏡手術

N.Simaan and Xu Kai, Columbia University

Imperial College London, UK

Endoscopic surgery

Domestic Researches of Endoscopic SPS Robots

Tianjin Univ. and Tianjin Medical Univ. modularized flexible joint design

Researchers in SJTU developed SURS based on robot prototype built inColumbia University

6.内視鏡手術

Endoscopic surgery

Domestic Researches of Endoscopic SPS Robots

Prof.Qixin Cao’s research team from SJTU, Prof. Fujie from Waseda University and Renji Hospitaldeveloped the “JiaoLong” SPS Robot System

6.内視鏡手術6.内視鏡手術

Endoscopic surgery

A Novel Optimal Coordinated Control Strategy for the Updated Robot System for SPS——The International Journal of Medical Robotics and Computer Assisted Surgery“JiaoLong” SPS Robot System form SJTU and Animal Experiments

Endoscopic surgery
0. Introduce ME@SJTU
1.Background2.Development Tendency of Surgery
3.Characteristics of Robotic Aided Surgery
4.Orthopedic Surgical Robotics
5.Interventional Surgical Robotics
6.Endoscopic Surgical Robotics
7.Conclusion and Outlook“JiaoLong” SPS Robot System form SJTU and Animal Experiments

7.結論と展望

Conclusion and Outlook
高齢化社会や環境悪化に伴って、癌の発生率、慢性疾患も増加
し、医療機器の需要が急増しています。今後15年間に予想される中国は世界最大の市場になるだろう、医療手術用ロボットの強気市場の成長です。

Market1
2

3

Statusダ・ヴィンチような手術ロボットは、特許保護、厳格な検査システムの状態とは、市場を振ることができません。中国の手術ロボットの発展は遅れて、全体のサプライチェーいや競争力の不足になっています。.

Opportunity

医療機器のインテリジェント、ネットワーキング、ビッ
グデータは、.車線変更に追い越し機会を来ています。ダ・
ヴィンチ手術ロボットにより、侵襲性の低い、回復速い単孔
手術ロボットは、単孔手術ロボットは、次世代手術ロボットの発展方向として認識されます。

4

Thank you！
本プレゼンテーションPPT資料の準備、白卫邦、王鹏飞、陈斌斌、李稣からご協力のことを感謝します！

Strengths

次世代手術ロボットの研究について、中国と先進国との技術差はあまりないですが、中国での臨床アプリケーションデータの数が多い、この利点が反映されますと信じています。 .