The other type of 3D vision often utilized in commercial and experimental RAS systems is 3D polarized flat panel displays. While commercial RAS systems generally utilize a custom 3D stereoscopic vision system, some experimental systems make use of off-the-shelf gaming 3D vision systems such as the Oculus Rift and HTC Vive.
In RAS systems, the 3D stereoscopic vision system is often built into a closed console whereby the surgeon leans into the headset. The image is often adjustable by the user either by moving the screens or by adjustment of optical lens to adjust for the individuals’ eye spacing. The screens are placed within close proximity to the eye similar to Virtual Reality headsets. There are several RAS systems that make use of 3D stereoscopic vision for visualizing the operating workspace including all the da Vinci variants, Revo-I and Avatera ( Table 2). Three-dimensional stereoscopic systems utilize dual independent displays, one for each eye. There are other robots in prototype stages of development undergoing tests in porcine models, cadavers and clinical trials.ģD stereoscopic systems have been in use since the initial commercialization of the Intuitive Systems da Vinci RAS System. Meanwhile, other robots have received approval in other countries, such as the REVO-I RAS system by Revo Surgical Solutions (Seoul, Korea). Meanwhile some other systems such as the Avatera RAS system by avateramedical GmbH (Jena, Germany) have only obtained CE certification. The CMR Surgical (Cambridge, UK) Versius RAS system is currently awaiting FDA approval, however, has Conformitè Europëenne (CE) approval. Unlike the da Vinci RAS system, Senhence uses eye tracking for control of the endoscope, has haptic feedback and individual patient carts each hosting a single robotic arm. Senhence is a multi-arm RAS system similar to da Vinci in concept but with some key differences.
One of the first to gain FDA approval was the TransEnterix (Morrisville, North Carolina) Senhence RAS system. Many laparoscopic RAS systems were being developed waiting for the patents to expire, resulting in new robots obtaining FDA approval in the past few years. With new laparoscopic-RAS systems now commercially available we should see RAS being adopted more widely in surgical interventions and costs of procedures using RAS to decrease in the near future.Īs a result of Intuitive Surgical’s purchase of Computer Motion, many of the patents relating to laparoscopic RAS were owned by Intuitive Surgical up until recently when they began to expire. We also briefly discuss the future directions of laparoscopic-RAS surgery. We compare the features of the imaging and display technology, surgeons console and patient cart of the reviewed RAS systems. In this study, we review the newly commercialized and prototype laparoscopic-RAS systems. Recently, the patents held by Intuitive Surgical have begun to expire, leading to many new laparoscopic-RAS systems being developed and entering the market. Before the dispute was settled in court, Intuitive Surgical bought Computer Motion, and thus owned critical patents for laparoscopic-RAS. These systems were similar in many aspects, which led to a patent dispute between the two companies. (Sunnyvale, CA, USA) da Vinci and the Computer Motion Zeus. The first laparoscopic-RAS systems to be commercialized were the Intuitive Surgical, Inc. Just as laparoscopic surgery provided a giant leap in safety and recovery for patients over open surgery methods, robotic-assisted surgery (RAS) is doing the same to laparoscopic surgery.
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