title: Preparedness in robotically assisted interventions.
abstract: For many years, robots have been used in manufacturing to perform a variety of delicate tasks. Their use is now being generalized to other fields, such as biology, domestic applications, and especially medicine, in which they are poised to make a significant contribution. This evolution comes from the progress made in the field of robotics and from recent changes in medical and surgical techniques, namely, developments in medical imaging and a new desire for minimally invasive interventions. This emerging combination of high-precision robotic manipulators, new medical diagnostic techniques, and efficient minimally invasive surgery has not yet been perfected. After a brief discussion of state-of-the-art robotic systems used in urology, this article discusses new challenges presented by robotic minimally invasive surgery. A computer-integrated approach aimed at increasing the efficiency of such interventions through better preparedness is presented. This approach is illustrated by a case study in human nephrectomy and a cardiac animal experiment.
authors.affiliation: ChIR Medical Robotics Group, INRIA Sophia-Antipolis, 2004 route des Lucioles, BP93, 06902, Sophia-Antipolis Cedex, France. Eve.Coste-Maniere@sophia.inria.fr
authors.forename: Eve
authors.initials: E
authors.lastname: Coste-Manière
authors.forename: Louaï
authors.initials: L
authors.lastname: Adhami
authors.forename: Patrick
authors.initials: P
authors.lastname: Antiphon
authors.forename: Clément-Claude
authors.initials: CC
authors.lastname: Abbou
mesh_terms: D006801:Humans; D010535:Laparoscopy; D019060:Minimally Invasive Surgical Procedures; D009392:Nephrectomy / Q000379:methods; D011677:Punctures; D012371:Robotics; D013520:Urologic Surgical Procedures / Q000379:methods