The Sina Robotic Telesurgery System Publisher



Mirbagheri A^{1, 2} ; Farahmand F^{2, 3} ; Sarkar S^{1, 2} ; Alamdar A^{2, 3} ; Moradi M² ; Afshari E² Show Affiliations
Source: Handbook of Robotic and Image-Guided Surgery Published:2019

Abstract

Sina is a robotic telesurgery system which can be used for performing general surgeries. The system has a reconfigurable surgery console which may be used both in sitting, semisitting, or standing surgeon postures. At the surgeon side are surgery handles of scissor, grasper, hammer, or stylus type which may be changed to perform different tasks during a single surgery. The slave subsystem has a modular and open architecture design for placement of surgical robots at one or both sides of the surgical bed and which can be integrated to each other. Noninterruptive reorienting the patient during general surgeries of deformable soft tissues is the most important advantage of such a modular and integrable design. The Sina cameraman robot (RoboLens) can smartly track the surgery instruments which are 5mm in diameter and fully articulated. Also, the system benefits from tremor reduction, movement scaling, and three degrees of freedom haptic feedback plus pinch force for each master handle. Any available operating room equipment such as electrosurgery devices and vision systems may be integrated into the Sina surgical system. Sina also benefits from both single and reusable instruments to reduce the cost of surgeries, which is one of the main bottlenecks in the generalization of robotic surgeries. © 2020 Elsevier Inc. All rights reserved.