Fig. 20.1
Humanoid automaton , designed by Leonardo da Vinci, it is believed to be able to perform several human-like motions
However the word robot wasn’t coined until 1923 by Karel Capek and comes from the Czech word “robota” which means slave labor. In his science fiction book “Rossum’s Universal Robots” an inventor creates robots as a cheap labor force. However, the story turns sinister when these robots become highly intelligent and capable of feelings, realizing that they are superior to humans. They declare war on humans and try to eliminate the entire human race from the face of the earth [2].
Modern industrial robots however, did not appear until the 1950s, when Unimation (Universal Automation), a company created by Devol and Engelberg, developed the Unimate, a jointed industrial robot arm used by General Motors assembly lines [3]. The success of robotics in industry is due in large part to their versatility and capability. Robots are able to perform multiple tasks that are often unpleasant and dangerous for humans and range from requiring tremendous strengths to millimetric precision. It was not until the 1980s that robots became part of the surgical field. The National Aeronautics and Space Administration Ames Research Center investigated virtual reality systems in collaboration with mechanical engineers at the Stanford Research Institute (SRI). They were interested in robotic technologies to develop a “telepresence” surgical system to improve dexterity in microscopic hand surgery [4]. The focus then shifted from micro- surgical to macroscopic general surgical applications, largely driven by the demonstration of laparoscopic cholecystectomy in 1989 by Perissat and colleagues [5]. A revised telepresence system including a surgeon’s console and remotely controlled tele-manipulators was developed with funding from the U.S. Department of Defense. These research projects eventually led to the da Vinci Surgical System (timeline summarized in Table 20.1).
Table 20.1
Timeline of events in the history and development of robotics in urology
Date | Event |
---|---|
1495 | Leonardo da Vinci designs the humanoid automaton, a robot knight that was able to stand, sit, raise its visor and independently maneuver its arms, and jaw. |
1923 | The word robot (Robota) is first coined by the Czech author Karel Capek in his science fiction book “Rossum’s Universal robots”. |
1985 | PUMA 200 was the first robot used in a surgical intervention during a stereotactic brain biopsy, in Los Angeles, USA. |
1988 | The PROBOT was used to perform transurethral surgery at imperial college (London, UK), this being the first application of robotics in urology. |
1994 | FDA approved AESOP®, the first robotic arm used to hold the camera during laparoscopy procedures. |
1995 | Intuitive surgical® in founded |
2000 | The FDA approved the da Vinci surgical system®. This year binder performed the first RALP in Frankfurt, Germany. |
2000 | First robotic nephrectomy in humans was performed by Guillonneau using a Zeus robotic surgical system. |
Finally, we must make a clarification, the Oxford Dictionary of English defines robot as: “a machine capable of carrying out a complex series of actions automatically, especially one programmable by a computer,” but this definition does exactly fit the so-called robotic surgical devices of today [6]. Most of the devices available to us are actually master-slave systems, where the surgeon (the master) has full control over the device (the slave), so fully articulating robotic arms mimic the movement of hands, allowing surgeons to have greater dexterity and control than is possible with conventional laparoscopic instruments.
Robotics in Surgery
The first time a robot was used in a surgical intervention was in 1985 in the Memorial Hospital of Los Angeles. The Unimation PUMA (Programmable Universal Manipulation Arm) 200 robot was used to hold a probe guide during a stereotactic brain biopsy. The robot was properly interfaced with a computerized tomographic (CT) scanne r (Fig. 20.2). Once the target was identified on the CT imaging, a simple command allowed the robot to move to a position such that the end-effector probe guided points toward the target. The main advantage of this technique was the improved accuracy that can be achieved by proper calibration of the robot [7]. This was followed by ROBODOC (Integrated Surgical Systems), a robotic system to aid orthopedic surgeons (Fig. 20.3). In 1988, ROBODOC was used for the first time to drill a hole in a patient’s femur during a total hip replacement [8]. The ROBODOC System has assisted surgeons in more than 35,000 joint replacement procedures across the United States, Europe and Asia. Japan, Korea and India, and continues its role at the forefront of medical technology.
Fig. 20.2
Unimate PUMA 200 first robot used in a surgical intervention during a stereotactic brain biopsy
Fig. 20.3
ROBODOC used for the first time in 1988, during a total hip replacement
First Application of Robotics in Urology
In 1988 at Imperial College (London, UK) the PROBOT was used in clinical trials to perform transurethral surgery (Fig. 20.4). This prototype was able to execute a surgical task following a preoperatively established plan. First, the distance from the bladder neck to the verumontanum was measured. Then, an ultrasound probe was passed through the endoscope to scan the prostate in order to build a three dimensional image of the gland. Using this model the urologist designed the cavity to be resected and the PROBOT was able to perform precise and repetitive cone shaped cuts from the verumontanum to the bladder neck [9]. The surgeon followed the progression of the procedure at the workstation and can adjust the cutting parameters or stop the robot at any time. In case of system failure, the surgeon can complete the operation manually.
Fig. 20.4
The PROBOT was able to performed precise and repetitive cone shaped cuts of the prostate following a pre-establish plan
Application of Robotics in Laparoscopy
In 1993, Computer Motion Inc . (Santa Barbara, California) released AESOP® (Automated Endoscope System for Optimal Positioning), a robotic arm designed to assist the surgeon in the era of laparoscopy by taking control of the laparoscopic camera (Fig. 20.5). This eliminates the need for an additional member of the surgical team, offering a steadier view and reducing instrument collisions. The system is composed of an articulated, electromechanical arm mounted to the operating room table. The arm provides 7 degrees of freedom (7-DOF) that are completely controlled by the surgeon. In 1994, AESOP® 1000 became the first robot to be approved by the U.S. Food and Drug Administration (FDA) [10]. When it was first introduced, it (AESOP® 1000) it was controlled via a foot pedal but future models (AESOP® 2000 in 1996 and AESOP® 3000 in 1998) were released with voice control.
Fig. 20.5
AESOP® (Automated Endoscope System for Optimal Positioning) , is a voice-activated robot used to hold the endoscope
AESOP® was followed by ZEUS® Robotic Surgical System (1998) which was also created by Computer Motion Inc. (Fig. 20.6). With ZEUS® , a master console allows the surgeon to control three independent articulated arms. This system combined an AESOP® robotic camera holder with two arms providing 6 degrees of freedom (6-DOF). Initially, this model was developed with a two-dimensional viewing system, however the final version was provided with a three-dimensional (3-D) view using glasses. The first procedure performed with this technology was a fallopian tube re-anastomosis in Cleveland, USA [11]. The ZEUS® Robotic Surgical System has the honor of being the first robotic system to be used in a transatlantic surgery. In 2001, Marescaux performed from New York, USA, an uneventful cholecystectomy on a female patient in Strasbourg, France, this procedure was also known as the “Lindbergh Operation ” [12].
Fig. 20.6
The ZEUS Robotic Surgical System (ZRSS) was a medical robot designed to assist in surgery, originally produced by the American robotics company Computer Motion
Modern Robotics Systems
In 1995, a group of scientists and medical entrepreneurs from Stanford Research Institute International (SRI International), Massachusetts Institute of Technology (MIT) and International Business Machines (IBM) founded Intuitive Surgical® with the idea of applying the principals of minimally invasive surgery to robotic-assisted surgery [13]. The company refined the SRI System into prototypes known originally as Lenny (used in animal trials) after the young Leonardo da Vinci, and Mona , for his masterwork the Mona Lisa. These prototypes were used in a human cholecystectomy (Himpens and Cadiere) for the first time at the St. Blasius Hospital in Dendermonde, Belgium in 1997 [14].