With the introduction of robots, surgeons can manipulate tissue more precisely, using benefits such as motion scaling
and tremor reduction, while working through smaller, less-invasive incisions into the body.
A high level telemanipulation computer relays commands from the master user interface to the slave arms thus allowing motion replication of surgeon's hand movements with tremor filtering and motion scaling.
In addition to basic telesurgery capabilities such as high quality stereo video, distal dexterity, motion scaling, and tremor filtering, these Complementary Situational Awareness (CSA) systems have the capability to combine sensing, imaging, and model information to provide the surgeon with significantly enhanced information and decision support, using augmented reality visualization, haptic feedback, and other means.
The machine is servo driven and equipped with a flat belt infeed conveyor and box motion scaling
jaws that follow the film for enhanced dwell time and hermetic seal quality.
The devices also have motion scaling
, "so the very forced movement of the surgeon's hand can become translated into a very fine motion at the incident tip," he explained.
The electronic motion scaling
eliminates physiologic tremor.
Further refinement of this patent includes the concepts of motion scaling
, hand-tremor elimination and a method of system activation that optimizes surgeon ergonomics.
In contrast, robotic surgery offers greater precision and accuracy because of improved three-dimensional visualization, enhanced dexterity with more degrees of freedom (in-out, up-down, right-left, pitchyaw, internal pitch-internal yaw), tremor filtration, motion scaling
from 1:1 to 10:1, and quantitative data about the surgery.
Further refinements of this patent include the concepts of motion scaling
, hand-tremor elimination, and a method of system activation that allows optimal surgeon ergonomics while performing coronary suturing.
An example of motion scaling
is where a one inch movement of the surgeon's hand is scaled and translated to a 1/10 inch movement at the robotic instrument tip.