Introduction - Microsurgery: Advances, Simulations, and Applications - page 14

For needle guidance and microcannulation, a long, thin, and
stiff tube must be inserted through healthy tissue to treatment
target. With purpose of cannulation, a microcannula was inserted
through the vitreous body of porcine eye to reach a target vessel
using a parallel link manipulator. The injection of dye conirmed
the cannulation effectiveness compared with the manual approach
[46]. Needle insertion into inferior porcine cava vein was achieved
relying on guidance information provided from ultrasound imaging
and tissue deformation simulation [47]. Another approach uses
a palpation probe in combination with the ultrasound probe and
needle insertion mechanism for breast tumor treatment [48]. Also
3D augmented reality system for MRI guided surgery was proposed
[49] (Fig. 1.10).

Ventricle

Brain Tumor

a) b)

Surgical Instrument

Figure 1.10 3D augmented reality system for MRI guided surgery. (a)
Surgical instrument guidance example. (b) Brain model
overlaid over the body of a volunteer [49].

1.2.5 Telesurgery

The geographical constraints between specialized surgeons and
patients motivated the development of remote treatment or
telesurgery; these treatments became possible with the development
of robotics and communication systems. It requires exchanging
video, audio, and control signals with short delay between the
location of the surgeon and the patient. For tele-operation systems
an operator moves a human interface that is named the master, the
human interface encodes the motion into electric and optical signals
that are transmitted to a remote location. At the remote location
the signal is received by a slave robot that moves according to it. In
unilateral systems, telesurgery is limited to reproduce the motion
desired by the operator to manipulate tissue (Fig. 1.11). Bilateral