Master-Slave Control Strategy for Da Vinci Robotic Surgery

Dr. Shamim Patel

September 22, 2022

Master-Slave Control Strategy for Da Vinci Robotic Surgery - Dr. Shamim Patel

The Da Vinci Surgical System uses a minimally invasive approach for various surgeries. These procedures include prostatectomies, cardiovascular valve repair, gynecologic surgeries, and renal surgery. It is also used to perform eyelid surgeries, such as cataract removal.

Minimally invasive surgery

The Davinci Robotic Surgery system is a cutting-edge technology that allows doctors to perform minimally invasive surgery. Its advanced computer and vision system allows surgeons to operate on patients with greater precision and control than a human surgeon could ever do. The system has four robotic arms and a monitor for an assistant surgeon to see the progress. It is powered by an internal five-minute power backup and does not require an external power source.

While the da Vinci Surgical System has assisted doctors in performing minimally invasive surgery on more than three million patients worldwide, it is not without its risks. Some patients have suffered complications, required additional procedures, or even died. Nonetheless, many patients have reported positive results.

The robotic system allows doctors to operate on patients by making small incisions in the skin. Then, special instruments, such as endoscopes, are inserted through the small openings. The surgeon sits at a console to operate the robot, and a trained assistant stays by the patient’s bedside.

High-definition imaging technology

The fourth-generation Da Vinci robotic surgery system can distinguish between diseased and healthy tissues, including the dense blood vessels in the lung and trachea. Its ability to view complex threads between diseased and normal tissue makes it easier for surgeons to differentiate the two. The robotic surgery system can also filter out small tremors in the operator’s hand.

The robotic surgery system has a dual console that lets the surgeon view high-definition images and make precise, more accurate surgical cuts. It is also fitted with a three-dimensional endoscope, a flexible tube with a camera at its tip. Three instrument arms and one endoscope arm are mounted on the robot, which pivots at incision sites. The robotic surgery system is aided by a team of laparoscopic surgeons who assist in inserting instruments and preparing incision sites.

High-definition imaging technology in Da Vinci Robotic Surgery lets surgeons see the surgical field clearly through the high-definition stereoscopic camera mounted on the robot arm. The surgeon can also see the instrument arms’ positions through console binoculars.

Automated maneuvering Surgery

One of the benefits of robotic surgery is that it allows surgeons to work more autonomously. Instead of relying on an assistant or medical technician, a surgeon can operate the robot independently and control most parameters. In addition, the interface of the robotic console is highly intuitive, reducing the learning curve associated with surgery.

The robot is capable of estimating the force that it must exert in a precise manner. It also has an integrated information system that enables the surgeon to monitor every robotic motion. This provides an improved level of safety and quality assurance. The surgeon can also use the information from the data for postoperative analysis.

One advantage of the robotic surgery system is that it allows surgeons to practice the operation before performing it on the patient. Furthermore, these practice runs can be recorded and edited.

Master-slave system 

Master-slave robotic surgical systems are often used to enhance the precision of surgical procedures. In addition, these systems are widely used for minimally invasive surgeries. This paper proposes a master-slave real-time control strategy for a novel robotic surgical robot. This robot is equipped with two instrument manipulators and one laparoscope manipulator. We propose an optimization algorithm for the master-slave kinematics transformation based on the consistency principle and apply it to the robot’s motion. We also propose auxiliary functions for the robot, such as intra-operative re-mapping and real-time tremor attenuation algorithms. Finally, we validate our proposed methods using simulations and experiments.

Davinci robotic systems utilize a master-slave system that allows the surgeon to fully control the master system, which visualizes the surgical process on a video screen. The slave system consists of mechanical actuators that respond to the master system’s inputs. The da Vinci Surgical System is the most widely used master-slave system in robotic surgery. This system was initially approved for general surgery in 2000 and has since been used for several types of spinal surgeries and research protocols.