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1. Introduction
Medical robotics is causing a paradigm shift in therapy. The most widespread surgical robot, Intuitive Surgical’s da Vinci system, has been discussed in over 4,000 peer-reviewed publications, was cleared by the United States’ Food and Drug
Administration (FDA) for multiple categories of operations, and was used in 80% of radical prostatectomies performed in the U.S. for 2008, just nine years after the system went on the market [1–3]. The rapid growth in medical robotics is driven by a combination of technological improvements (motors, materials, and control theory), advances in medical imaging
(higher resolutions, magnetic resonance imaging, and 3D ultrasound), and an increase in surgeon/patient acceptance of both laparoscopic procedures and robotic assistance. New uses for medical robots are created regularly, as in the initial stages of any technology-driven revolution.
In 1979, the Robot Institute of America, an industrial trade group, defined a robot as “a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or other specialized devices through various programmed motions for the performance of a variety of tasks.” Such a definition leaves out tools with a single task (e.g., stapler), anything that cannot move (e.g., image analysis algorithms), and nonprogrammable mechanisms
(e.g., purely manual laparoscopic tools). As a result, robots are generally indicated for tasks requiring programmable motions, particularly where those motions should be quick, strong, precise, accurate, untiring, and/or via complex articulations. The downsides generally include high expense, space needs, and extensive user training requirements. The greatest impact of medical robots has been in surgeries, both radiosurgery and tissue manipulation in the operating room, which are improved by precise and accurate motions of the necessary tools. Through robot assistance, surgical outcomes can be improved,