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Toward image-guided robotic surgery: determining intrinsic accuracy of the da Vinci robot

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Abstract

The use of robotics in medicine has been growing in recent years. The introduction of specialized robots for surgery such as the daVinci (Intuitive Surgical, Sunnyvale, CA, USA) has largely motivated this growth. The currently available robotic-assisted surgery systems rely only on direct vision through the use of a laparoscopic camera for surgical guidance. While these cameras provide a stereoscopic view of the surface, they are incapable of showing beneath the surgical surface. In other surgical developments, image guidance has become an integral part of navigation and planning, allowing understanding of the locations beneath the surgical plane. As an early step in the development of a robotic image-guided surgical (RIGS) system, the physical limitations of a surgical robot must be assessed. In this paper the accuracy and the precision of the daVinci surgical system are quantified. It is shown that the daVinci system can successfully localize a point with an approximate fiducial localization error (FLE) of 1 mm. This FLE value demonstrates that the daVinci is within the accuracy limits of the other commonly used surgical localizers.

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Authors and Affiliations

  1. Department of Biomedical Engineering, Vanderbilt University, Nashville, TN, USA

    David M. Kwartowitz & Robert L. Galloway

  2. Department of Urology, Vanderbilt University, Nashville, TN, USA

    S. Duke Herrell

  3. Department of Surgery, Vanderbilt University, Nashville, TN, USA

    Robert L. Galloway

  4. Department of Neurological Surgery, Vanderbilt University, Nashville, TN, USA

    Robert L. Galloway

Authors
  1. David M. Kwartowitz
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  2. S. Duke Herrell
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  3. Robert L. Galloway
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Correspondence to David M. Kwartowitz.

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Kwartowitz, D.M., Herrell, S.D. & Galloway, R.L. Toward image-guided robotic surgery: determining intrinsic accuracy of the da Vinci robot. Int J CARS 1, 157–165 (2006). https://doi.org/10.1007/s11548-006-0047-3

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