engineering

MiroSurge

MiroSurge is a engineering topic covered in the lgStudy science library. This page brings together a partial reference excerpt, illustrations, worked examples, real-world applications and a short study plan, so you can understand MiroSurge rather than just read about it. In short: MiroSurge is a presently prototypic robotic system (as of May 2012) designed mainly for research in minimally invasive telesurgery. In the described configuration, the system is designed according to the master slave principle and enables the operator to remotely control minimally invasive surgical instruments including force/torque feedback.

Key takeaways

MiroSurge belongs to engineering; place it in that map before memorising details.
Learn the definition first, then one example that makes the definition concrete.
Connect MiroSurge to a quantity you can measure, compute or draw — that is where exam questions come from.
Reproduce the core statement of MiroSurge from memory before moving on to harder problems.

Reference excerpt

MiroSurge is a presently prototypic robotic system (as of May 2012) designed mainly for research in minimally invasive telesurgery. In the described configuration, the system is designed according to the master slave principle and enables the operator to remotely control minimally invasive surgical instruments including force/torque feedback. The scenario is developed at the Institute of Robotics and Mechatronics within the German Aerospace Center (DLR). The system consists of

Three to five MIRO robot arms at the operation table, Minimally invasive instruments (MICA), a HD Stereo endoscope, surgical workstation with two force/torque reflecting input devices and stereo vision, and a planning suite for the robotic setup. Besides the semi-autonomous motion compensation, the system exclusively is a telemanipulator at any time and the surgeon at the workstation has full control of the surgical instruments. To change instruments or to introduce the robot setup, and for safety reasons a surgical assistant is present in the operating room (OR).

MIRO robot arm MIRO is a lightweight robot (mass: approx. 10 kg, i.e. 353 US oz) with an optimized design for surgical applications.

Payload approximately 3 kg 7 degrees of freedom (DoF) Joint-sided torque sensors 3 kHz Cartesian control cycle In the minimally invasive setup MiroSurge, the MIRO arms are mounted directly to the side-rails of the operation table. As the robot has full 6 DoF motion capabilities, the trocar can be located almost arbitrary within the robot's workspace. Due to the additional DoF (joint) of the robot, a nullspace (elbow) motion is possible during operation of the robot, which is utilized for collision avoidance.

MICA minimally invasive instrument MICA (mass approx. 0,9 kg, i.e. 31.8 US oz) is a robotic instrument for minimally invasive surgery.

intra corporal universal joint (2DoF) scissors, gripper, or a Maryland as a functional tip (1DoF) Joint-sided 7DoF force/torque sensor for force feedback 3 kHz position control cycle The instrument MICA is mounted directly to the hollow wrist of the robot MIRO, thus the lost 2DoF of motion due to the trocar in case of the minimally invasive setup MiroSurge are re-established, giving the surgeon full dexterity inside patient's body.

Surgical workstation For manipulation, the surgeon sits in front of a user console, remotely located from the operation table. The console comprises

stereo vision of the site of operation on a HD-display and two commercially available, fully actuated input devices Sigma.7 (master) with 7DoF of motion dedicated to the left and right hand of the surgeon. Thereby, the surgeon is able to guide e.g. two robotic instruments MICA (slave) by moving the hand-held input devices according to the desired motion. Visual and haptic feedback is provided to the surgeon by the HD-display in front of him and the force/torque reflecting input devices respectively.

Planning and registration Concerning an optimized positioning of robotic components and patient in relation to workspace accessibility, research is done within the MiroSurge system concerning pre-operative planning as well as intra-operative registration.

Intended applications MiroSurge as a system for minimally invasive surgery is intended to operate in the abdominal and thoracic region with two MIRO-robots carrying MICA-instruments and one robot for the stereo-endoscope. According to Tilo Wüsthoff, the industrial designer at the Institute of Robotics and Mechatronics, one of the main purposes of this device is the robot-supported surgery on a beating heart.

References

External links Medical robotics: MiroSurge on YouTube "MiroSurge - Telemanipulation in minimally invasive surgery". Institute of Robotics and Mechatronics, DLR. Retrieved 2020-07-10.

Worked examples

Example 1 — a first encounter with MiroSurge

Start with the simplest possible case. Write down what MiroSurge claims or describes in one sentence, then invent the smallest concrete situation in which that sentence is true. In engineering, the smallest case is usually a single object, a single equation or a single measurement. Check that every symbol or term in your sentence has a meaning in that case.

Example 2 — changing one variable

Take the situation from Example 1 and change exactly one quantity: double it, halve it, or set it to zero. Predict what should happen to MiroSurge before you calculate. Comparing your prediction with the result is the fastest way to find out whether you understand the idea or only the words.

Example 3 — an exam-style question

Typical questions about MiroSurge ask you to (a) state it precisely, (b) apply it to given data, and (c) explain a limitation. Practise writing all three answers in under five minutes; the third part is what separates a full-mark answer from an average one.

Applications of MiroSurge

In research: MiroSurge appears in engineering research whenever the underlying quantities have to be modelled precisely. Papers usually cite it as a starting assumption and then explore where it breaks down.
In technology and industry: Engineering practice reuses MiroSurge in design rules, simulations and safety margins. Knowing the idea lets you read a specification sheet and understand why the numbers look the way they do.
In the classroom: MiroSurge is common in secondary-school and first-year university syllabi. It links to neighbouring topics Surgical robots, Telepresence, so understanding it makes those chapters shorter.
In everyday life: Look for MiroSurge outside the textbook — in sport, cooking, traffic, electronics or the sky above you. An example you found yourself is remembered far longer than one you were given.

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How to study MiroSurge in 20 minutes

Read the reference excerpt below once, without taking notes.
Close the page and write down what MiroSurge means in your own words.
Compare your version with the excerpt and mark what you missed.
Work through the three examples above with pen and paper.
Explain MiroSurge out loud to somebody else — or to Teacher Smith in the lgStudy chat.

Frequently asked questions

What is MiroSurge in simple terms?

Why does MiroSurge matter?

Because it connects several engineering ideas at once: it gives you a definition you can apply, a quantity you can calculate, and a way to check whether a result is plausible.

How should I study MiroSurge?

Read the excerpt, restate it from memory, then work through the examples and applications listed on this page. The five-step study plan above takes about twenty minutes.

What does this page cover?

It gives you a compact reference excerpt plus original lgStudy explanations, examples, applications and study material on MiroSurge.