Page 175 - Control Theory in Biomedical Engineering

160 Control theory in biomedical engineering

surgery (MIS) as well miniaturized mechatronics tools for conventional
surgery. Bio-robotics deal with simulating biological systems in order to
provide a better understanding of human physiology.
The classification scheme developed by Taylor (1997) categorizes surgi-
cal robots by the role they play in medical applications as tools that can work
cooperatively with physicians to carry out surgical interventions. In this
framework, five classes of systems are identified: (1) intern replacements,
(2) telesurgical systems, (3) navigational aids, (4) precise positioning systems,
and (5) precise path systems.
In Cleary and Nguyen (2001), the authors focus on the role of surgical
robots within the context of Computer Integrated Systems (CIS). They
classify the systems into two broad families: (1) surgical CAD/CAM
and (2) surgical assistants.
In Camarillo et al. (2004), the authors define a role-based classification of
medical robots: (1) passive role where the role of the robot is limited in scope,
or its involvement is largely low risk, (2) restricted role where the robot is
responsible for more invasive tasks with higher risk, but is still restricted from
essential portions of the procedure, and (3) active role where the robot is inti-
mately involved in the procedure and carries high responsibility and risk.
In Hockstein et al. (2007), surgical robots are classified as (1) automated
arms, (2) mobile devices, (3) mills, or (4) telerobotic devices. Additionally,
they are also classified as (1) active, (2) semi-active, or (3) passive devices.
Active devices are totally programmable and carry out tasks independently.
Semi-active devices and passive robotic devices translate movements from
an operator’s or surgeon’s hands into powered or unpowered movements
of the robot’s end-effector arms. Surgical robots can include both active
mills and semi-active telerobotic devices.
In Dogangil et al. (2010), medical robots are classified according to the
following surgical specialties: neurosurgery, eye surgery and ear, nose, and
throat (ENT) surgery; general, thoracic, and cardiac surgery; gastrointestinal
and colorectal surgery; and urologic surgery. In the same work, the systems
are also cross-classified according to their engineering design and robotics
technology.
In Lee et al. (2017), the authors classify soft robotics according to the fol-
lowing criteria: actuation, sensing, structure, control and electronics, mate-
rials, fabrication and system, and applications.
In Yang et al. (2017a), medical robots (in commercial use as well as in
research) are classified according to robot autonomy. The spectrum of auto-
mation in surgical robotics relates to the level of dependence on the human
surgeon to guide the procedure, as compared to the robot guiding itself.