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 ﺩﺍﻧﺸکﺪﻩ ﻣﻬﻨﺪﺳی پﺰﺷکی ﺩﺍﻧﺸگﺎﻩ ﺻﻨﻌﺘی ﺍﻣیﺮکﺒیﺮ ﺳﻤیﻨﺎﺭ ﺩﺭﺱ کﺎﺭﺑﺮﺩ ﻓﻨﺎﻭﺭی ﺍﻃﻼﻋﺎﺕ پﺰﺷکی ﺗﻬیﻪ ﺩﺍﻧﺸکﺪﻩ ﻣﻬﻨﺪﺳی پﺰﺷکی ﺩﺍﻧﺸگﺎﻩ ﺻﻨﻌﺘی ﺍﻣیﺮکﺒیﺮ ﺳﻤیﻨﺎﺭ ﺩﺭﺱ کﺎﺭﺑﺮﺩ ﻓﻨﺎﻭﺭی ﺍﻃﻼﻋﺎﺕ پﺰﺷکی ﺗﻬیﻪ کﻨﻨﺪگﺎﻥ : ﺳپﻨﺪ ﺳیﺮﻭﺱ کﺒیﺮی ﻃﺎﻫﺮﻩ ﺍیﺮﺍﻧﺨﻮﺍﻩ ﺑﺎ ﺗﺸکﺮ ﺍﺯ ﺟﻨﺎﺏ آﻘﺎی ﺩکﺘﺮﺗﻮﺣیﺪﺧﻮﺍﻩ ﻭﺟﻨﺎﺏ آﻘﺎی ﺍﺣﻤﺪی پژﻮﻩ

 ü ﻣﻘﺪﻣﻪ ü ﻣﻘﺪﻣﻪ

 ﺗﺎﺭیﺨچﻪ 1985 Kwoh et al used Puma 560—a standard industrial robot—to hold a ﺗﺎﺭیﺨچﻪ 1985 Kwoh et al used Puma 560—a standard industrial robot—to hold a fixture next to the patient’s head to locate a biopsy tool for neurosurgery 1985 Taylor at IBM was developing an industrial robot system (based on an IBM ‘Scara’ style of robot) for hip surgery. Following laboratory studies, the robot became a ‘veterinarian robot’ replacing hips of pet dogs under direction of vet Dr. Hap Pal. The IBM robot was replaced by a Scara industrial robot from the Japanese company, whose Sanko-Seiki control system incorporated additional safety structures for surgery. 1988 First attempt at active motion robot in surgery. The Mechatronics in Medicine Group at Imperial College built onto Puma 560 to perform soft-tissue surgery in transurethral resection of prostate (TURP).

 ﺗﺎﺭیﺨچﻪ April 1991 First time an active robot was used to automatically remove ﺗﺎﺭیﺨچﻪ April 1991 First time an active robot was used to automatically remove tissue from patients. This resulted from developments based on the PUMA studies for TURP. Since that time a 2 nd-generation prostate robot (called Probot) has been developed at Imperial College. Late 1991 The modified Sanko Seiki robot system, now called ‘Robodoc’ was tried clinically on human patients. Dec 1993 The AESOP 1000, used for holding an endoscopic camera in minimal invasive laparoscopic surgery, developed by Computer Motion was approved by the FDA.

 ﺗﺎﺭیﺨچﻪ 1997 The da Vinci Surgical System manufactured by Intuitive Surgical Inc. , ﺗﺎﺭیﺨچﻪ 1997 The da Vinci Surgical System manufactured by Intuitive Surgical Inc. , became the first assisting surgical robot to receive FDA approval to help surgeons more easily perform laparoscopic surgery. Jacques Himpens and Guy Cardier in Brussels, Belgium used the da Vinci by Intuitive Surgical Inc. system to perform the first telesurgery gall bladder operation. Oct 2001 ZEUS® Robotic Surgical System from Computer Motion receives FDA regulatory clearance. (ZEUS’s 3 rd arm is an AESOP voice-controlled robotic endoscope for visualization [Lanfranco et al, 2004]. ) Sept 2001 ZEUS robotic system developed by Computer Motion was used in the trans-Atlantic operation. A doctor in New York removed the diseased gallbladder of a 68 -year-old patient in Strasbourg, France. See [Marescaux, 2002] for details. : ﺟﻬﺖ ﺍﻃﻼﻋﺎﺕ ﺑیﺸﺘﺮ http: //biomed. brown. edu/Courses/BI 108_2005_Groups/04/timeline. html

Medical Robotics n n n Biorobotics Rehabilitation Robotics for Surgery Medical Robotics n n n Biorobotics Rehabilitation Robotics for Surgery

 Bio. Robotics کﻤک ﺩﺭ ﺷﻨﻮﺍیی ﺍﻣکﺎﻥ ﺟﺎیگﺰیﻨی چیپ ﺳﺖ ﺩﺭ ﻣﻐﺰ پیﻮﻧﺪ ﻣیکﺮﻭﺳکﻮپی Bio. Robotics کﻤک ﺩﺭ ﺷﻨﻮﺍیی ﺍﻣکﺎﻥ ﺟﺎیگﺰیﻨی چیپ ﺳﺖ ﺩﺭ ﻣﻐﺰ پیﻮﻧﺪ ﻣیکﺮﻭﺳکﻮپی ﻓﻌﺎﻝ ﺩﺭ ﻗﻠﺐ ﺟﻬﺖ پﻤپﺎژ ﺧﻮﻥ ﺩﺍﺩﻩ ﻭ ﺗﺼﻮیﺮ ﻣیکﺮﻭﺳیﺴﺘﻢ ﻫﺎی ﻓﺮﺍگیﺮ ﺟﻬﺖ ﺩیﺪ ﻣﺼﻨﻮﻋی ﻣیکﺮﻭ چیپ ﺳﺖ ﻫﺎیی ﺟﻬﺖ ﺗﺸﺨیﺺ ﺻﺪﺍ ﻭ ﺑﻪ ﻣﻨﻈﻮﺭ ﺟﺎیگﺰیﻨی ﻋﺼﺐ ﺳﻤﻌی

 ﺍﻧﻮﺍﻉ Bio. Robotics n n Biorobotic System: DDX Disease Detector 3 (DD 3) ﺍﻧﻮﺍﻉ Bio. Robotics n n Biorobotic System: DDX Disease Detector 3 (DD 3)

 ﺍﻧﻮﺍﻉ Bio. Robotics ﺭﻭﺑﺎﺕ intestinal bug ﺭﻭﺑﺎﺕ کﺮﻡ ﺍیﻨچی inch-worm http: //www. postgazette. ﺍﻧﻮﺍﻉ Bio. Robotics ﺭﻭﺑﺎﺕ intestinal bug ﺭﻭﺑﺎﺕ کﺮﻡ ﺍیﻨچی inch-worm http: //www. postgazette. com

 ﺍﻧﻮﺍﻉ Bio. Robotics ﺳﻨﺴﻮﺭ Cmos ﺷﺒیﻪ ﺷﺒکیﻪ چﺸﻢ ﺟﻬﺖ ﺑیﻨﺎیی ﺗﻮﻟیﺪ ﺻﺪﺍی ﺑیﻮﻣکﺎﻧیک ﺍﻧﻮﺍﻉ Bio. Robotics ﺳﻨﺴﻮﺭ Cmos ﺷﺒیﻪ ﺷﺒکیﻪ چﺸﻢ ﺟﻬﺖ ﺑیﻨﺎیی ﺗﻮﻟیﺪ ﺻﺪﺍی ﺑیﻮﻣکﺎﻧیک http: //biorobotics. harvard. e du/research/heather. html

 ﺭﻭﺑﺎﺗﻬﺎی ﺗﻮﺍﻧﺒﺨﺸی 1 ﺳیﺴﺘﻤﻬﺎی ﺭﻭﺑﺎﺗیک ﻣﺨﺼﻮﺹ ﺑیﻤﺎﺭﺳﺘﺎﻧﻬﺎ : MELKONG 2 ﺍﺩﺍﺭﻩ کﻨﻨﺪﻩ ﺩﺭ ﺭﻭﺑﺎﺗﻬﺎی ﺗﻮﺍﻧﺒﺨﺸی 1 ﺳیﺴﺘﻤﻬﺎی ﺭﻭﺑﺎﺗیک ﻣﺨﺼﻮﺹ ﺑیﻤﺎﺭﺳﺘﺎﻧﻬﺎ : MELKONG 2 ﺍﺩﺍﺭﻩ کﻨﻨﺪﻩ ﺩﺭ ﺗﻮﺍﻧﺒﺨﺸی : ﺑﺎﺯﻭﻫﺎی ﻭیﻠچﺮ Mov. AR URMAD -3 ﻭیﻠچﺮﻫﺎی ﻫﻮﺷﻤﻨﺪ

 ﺭﻭﺑﺎﺗﻬﺎی ﺗﻮﺍﻧﺒﺨﺸی 4 ﺑﻪ ﻋﻨﻮﺍﻥ ﺩﺳﺘیﺎﺭﺩﺭ ﺯﻧﺪگی ﺭﻭﺯﻣﺮﻩ MOVAID 5 - Functional Electric ﺭﻭﺑﺎﺗﻬﺎی ﺗﻮﺍﻧﺒﺨﺸی 4 ﺑﻪ ﻋﻨﻮﺍﻥ ﺩﺳﺘیﺎﺭﺩﺭ ﺯﻧﺪگی ﺭﻭﺯﻣﺮﻩ MOVAID 5 - Functional Electric Simulation ) (FES ﺷﺒیﻪ ﺳﺎﺯ ﺍﻟکﺘﺮیکی ﺗﺎﺑﻌی 6 ﻣﺤیﻂ ﻫﺎی ﻣﺠﺎﺯی ﺟﻬﺖ ﺗﻤﺮیﻦ ﻭ ﺩﺭﻣﺎﻥ ﺗﻮﺍﻧﺒﺨﺸی

 )8891 -3891( Mo. VAR * ﺷﺎﻣﻞ 3 چﺮﺥ ﺑﺮ ﻣﺒﻨﺎی گیﺮﻧﺪﻩ یﺎ ﻓﺮﺳﺘﻨﺪﻩ )8891 -3891( Mo. VAR * ﺷﺎﻣﻞ 3 چﺮﺥ ﺑﺮ ﻣﺒﻨﺎی گیﺮﻧﺪﻩ یﺎ ﻓﺮﺳﺘﻨﺪﻩ ﺍﻣﻮﺍﺝ ﺩﺭ ﺟﻬﺖ ﻣﻨﺎﺳﺐ * ﺩﺍﺭﺍی ﺑﺎﺯﻭی 052 - puma ﺩﻭﺭﺑیﻦ ﻧﺼﺐ ﺷﺪﻩ ﺑﻪ ﻣﻨﻈﻮﺭ ﻧﻤﺎیﺶ ﻓﻌﺎﻟیﺘﻬﺎ ﻭ ﻣﺤیﻂ ﺣﻮﻝ کﻨﺴﻮﻝ ﺑﻪ ﻣﺼﺮﻑ کﻨﻨﺪﻩ * ﺍﺯ ﺑﺎﺭیکی کﺎﻓی ﺑﻪ ﻣﻨﻈﻮﺭ ﺣﺮکﺖ ﺩﺭ ﺑیﻦ ﺩﺭﻫﺎ ﻭ ﻓﻀﺎﻫﺎی ﺑﺎﺭیک ﺑﺮﺧﻮﺭﺩﺍﺭ ﺍﺳﺖ * ﺍﺯ ﺗکﻨﻮﻟﻮژی wireless digital link ﺑﻪ ﻣﻨﻈﻮﺭ ﺩﺭیﺎﻓﺖ ﺩﺳﺘﻮﺭﺍﺕ ﻭ ﺍﺭﺳﺎﻝ ﺩﺳﺘﻮﺭﺍﺕ آﻤﺎﺭی ﻭ ﻣﻮﻗﻌیﺘی ﺑﺮﺧﻮﺭﺩﺍﺭ ﺍﺳﺖ * ﺳیﺴﺘﻢ ﺳﻨﺴﻮﺭ ﺑﺮﺍی ﺗﺸﺨیﺺ ﻣﻮﺍﻧﻊ * کﻨﺴﻮﻝ ﺭﻭﺑﺎﺕ ﺷﺎﻣﻞ 3 ﻣﻮﻧیﺘﻮﺭ: ﻧﻘﺸﻪ ﺣﺮکﺎﺕ ﺭﺑﺎﺕ ﺑﻪ ﺻﻮﺭﺕ گﺮﺍﻓیکی ، ﻭﺿﻌیﺖ ﺭﻭﺑﺎﺕ ، ﻭ ﺩﻭﺭﺑیﻦ ﻧﻈﺎﺭﺕ ﻣﺤیﻂ. ﺍیﻦ کﻨﺴﻮﻝ ﻫﻤچﻨیﻦ ﺷﺎﻣﻞ کیﺒﻮﺭﺩ ، voice ﻭ کﻨﺘﺮﻭﻝ کﺮﺳﺮ ﻭ ﺧﺮﻭﺟی ﺻﺪﺍ ﻣی ﺑﺎﺷﺪ

 Gravity Balancing Leg Orthosis ) (GBO ﺍیﻦ ﻭﺳیﻠﻪ ﺍیﻦ ﻣﺸﺨﺼﺎﺕ ﺭﺍ ﺩﺍﺭﺍﺳﺖ : Gravity Balancing Leg Orthosis ) (GBO ﺍیﻦ ﻭﺳیﻠﻪ ﺍیﻦ ﻣﺸﺨﺼﺎﺕ ﺭﺍ ﺩﺍﺭﺍﺳﺖ : 1 -ﻣی ﺗﻮﺍﻧﺪ کﺎﻣﻞ ﻭ یﺎ ﺗﺎ ﺣﺪی ﺗﻌﺎﺩﻝ ﺳﻨگیﻨی پﺎی ﺍﻧﺴﺎﻥ ﺭﺍ ﺩﺭ ﺭﻧﺠی ﺍﺯ ﺣﺮکﺎﺕ ﺣﻔﻆ کﻨﺪ 2 - ﺑﺮﺍی ﺣﺮکﺎﺕ ﻣﺸﺨﺺ ﺍﻧﺴﺎﻥ ﻗﺎﺑﻞ ﺗﻨﻈیﻢ ﺍﺳﺖ

Active Leg Exoskeleton (ALEX) Swing Assist Unmotorized Exoskeleton (SUE) Active Leg Exoskeleton (ALEX) Swing Assist Unmotorized Exoskeleton (SUE)

 ﺭﻭﺑﺎﺗﻬﺎی ﺟﺮﺍﺡ ﺗﻌﺮیﻒ : کﺎﻣپیﻮﺗﺮ پﺮﺩﺍﺯﺷگﺮ ﻗﺎﺑﻞ کﻨﺘﺮﻝ ﻗﺪﺭﺗﻤﻨﺪی کﻪ ﺩﺍﺭﺍی ﺣﺴگﺮﻫﺎی ﻣﺼﻨﻮﻋی ﺭﻭﺑﺎﺗﻬﺎی ﺟﺮﺍﺡ ﺗﻌﺮیﻒ : کﺎﻣپیﻮﺗﺮ پﺮﺩﺍﺯﺷگﺮ ﻗﺎﺑﻞ کﻨﺘﺮﻝ ﻗﺪﺭﺗﻤﻨﺪی کﻪ ﺩﺍﺭﺍی ﺣﺴگﺮﻫﺎی ﻣﺼﻨﻮﻋی ﻣی ﺑﺎﺷﺪ کﻪ ﺟﻬﺖ ﺣﺮکﺖ ﺩﺍﺩﻥ ﺍﺑﺰﺍﺭﺑﻪ ﻣﻨﻈﻮﺭ ﺍﻧﺠﺎﻡ یک ﺳﺮی ﺍﻗﺪﺍﻣﺎﺕ ﻣﺮﺑﻮﻁ ﺑﻪ ﺟﺮﺍﺣی ﺑﺮﻧﺎﻣﻪ ﺭیﺰی ﻣی ﺷﻮﺩ )0002( B Davies

Virtual Reality 3 D Simulations Communication Technology Robotics Associated technologies with Telesurgery Haptics Virtual Reality 3 D Simulations Communication Technology Robotics Associated technologies with Telesurgery Haptics

 ﻣﺮﺍﺣﻞ ﻣﻌﻤﻮﻝ ﺩﺭ ﺟﺮﺍﺣی ﺯﺍﻧﻮ ﺑﺎ ﺭﻭﺑﺎﺕ 9991 , ][Davies گﺮﻓﺘﻦ ﺗﺼﻮیﺮﺑیﻤﺎﺭ ﻭیﺮﺍیﺶ ﻣﺮﺍﺣﻞ ﻣﻌﻤﻮﻝ ﺩﺭ ﺟﺮﺍﺣی ﺯﺍﻧﻮ ﺑﺎ ﺭﻭﺑﺎﺕ 9991 , ][Davies گﺮﻓﺘﻦ ﺗﺼﻮیﺮﺑیﻤﺎﺭ ﻭیﺮﺍیﺶ ﺗﺼﺎﻭیﺮ ﻭ ﺍیﺠﺎﺩ یک ﻣﺪﻝ 3 ﺑﻌﺪی ﺍﺯ پﺎ ﺍیﺠﺎﺩ یک ﻣﺪﻝ 3 ﺑﻌﺪی ﺍﻧﺪﺍﻡ ﻣﺼﻨﻮﻋی ﺳﻮﺍﺭ کﺮﺩﻥ ﺍﻧﺪﺍﻡ ﻣﺼﻨﻮﻋی ﺑﺮ ﺭﻭی ﻣﺪﻝ 3 ﺑﻌﺪی پﺎ ﺗﻄﺒیﻖ ﻭ ﺑﻬیﻨﻪ ﺳﺎﺯی ﻓﻀﺎ ﺑﺮﻧﺎﻣﻪ ﺭیﺰی ﺭﻭیﻪ ﻋﻤﻞ : Pre-operative ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﻭ ﺛﺎﺑﺖ کﺮﺩﻥ ﺑیﻤﺎﺭ ﺭﻭی ﻣیﺰ ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﻭ ﺛﺎﺑﺖ کﺮﺩﻥ ﺭﻭﺑﺎﺕ ﺭﻭی ﺯﻣیﻦ یﺎ ﻣیﺰ ﻭﺍﺭﺩ کﺮﺩﻥ ﺑﺮﺷﻬﺎیی ﺍﺯ ﻣﺪﻝ 3 ﺑﻌﺪی ﺩﺭ کﻨﺘﺮﻟﺮ ﺭﻭﺑﺎﺕ ﺍﻃﻼﻉ ﺭﻭﺑﺎﺕ ﺍﺯ ﺑیﻤﺎﺭ ﺍﻧﺠﺎﻡ ﺗﻮﺍﻟی ﺣﺮکﺖ ﺭﻭﺑﺎﺕ )ﻧﻈﺎﺭﺕ ﺑﺮﺍی ﺣﺮکﺖ ﻏیﺮ ﺿﺮﻭﺭی ﺑیﻤﺎﺭ( : Intraoperative ﺟﺎﺑﺠﺎ کﺮﺩﻥ ﺭﻭﺑﺎﺕ ﺍﺯ ﻣﺠﺎﻭﺭﺕ ﻣﺮﺧﺺ کﺮﺩﻥ ﺑیﻤﺎﺭ چک کﺮﺩﻥ کیﻔیﺖ کﺎﺭﻭ ﺭﻭﺵ : Post-operative ﺑﺎﺯﻧگﻪ ﺩﺍﺷﺘﻦ ﺑیﻤﺎﺭ ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﻣﺠﺪﺩ ﺑیﻤﺎﺭ ﻭ ﺑیﻤﺎﺭ If further cuts are : necessary ﺍﻃﻼﻉ ﺭﻭﺑﺎﺕ ﺍﺯ

 Ø ﺭﺑﺎﺗﻬﺎﻱ ﺟﺮﺍﺡ ﻫﻨﻮﺯ ﺧﻮﺩ ﻣﺨﺘﺎﺭ ﻧﻴﺴﺘﻨﺪ ﺗﻌﺪﺍﺩﻱ ﻛﻨﺘﺮﻝ ﺍﺯ ﺭﺍﻩ ﺩﻭﺭ -ﺑﺮﺧﻲ Ø ﺭﺑﺎﺗﻬﺎﻱ ﺟﺮﺍﺡ ﻫﻨﻮﺯ ﺧﻮﺩ ﻣﺨﺘﺎﺭ ﻧﻴﺴﺘﻨﺪ ﺗﻌﺪﺍﺩﻱ ﻛﻨﺘﺮﻝ ﺍﺯ ﺭﺍﻩ ﺩﻭﺭ -ﺑﺮﺧﻲ ﻛﺎﻣﻼ ﻣﻜﺎﻧﻴﻜﻲ

 Ø ﺭﺑﺎﺗﻬﺎﻱ ﺟﺮﺍﺡ n ﺗﺎ ﺑﻪ ﺣﺎﻝ ﺩﺭ ﺍﻧﺪﻭﺳﻜﻮپﻲ ﻭ ﺟﺮﺍﺣﻲ ﻫﺎﻱ ﻃﺤﺎﻝ Ø ﺭﺑﺎﺗﻬﺎﻱ ﺟﺮﺍﺡ n ﺗﺎ ﺑﻪ ﺣﺎﻝ ﺩﺭ ﺍﻧﺪﻭﺳﻜﻮپﻲ ﻭ ﺟﺮﺍﺣﻲ ﻫﺎﻱ ﻃﺤﺎﻝ ﻭ ﺟﻬﺎﺯ ﻫﺎﺿﻤﻪ ﻭ پﺮﻭﺳﺘﺎﺕ ﻭ ﺩﺭﻳچﻪ ﻣﻴﺘﺮﺍﻝ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﻫﺪﻑ ﻧﻬﺎﻳﻲ: ﺍﺳﺘﻔﺎﺩﻩ ﺩﺭ ﺟﺮﺍﺣﻲ ﻫﺎﻱ ﺗﻨﻔﺴﻲ ﻭ ﺳﻴﻨﻪ ﺑﺴﺘﻪ

 ﺳیﺴﺘﻤﻬﺎی ﻣﻮﺟﻮﺩ ﺭﻭﺑﺎﺗیک ﺩﺭ ﺟﺮﺍﺣی n § § n da Vinci Surgical System ﺳیﺴﺘﻤﻬﺎی ﻣﻮﺟﻮﺩ ﺭﻭﺑﺎﺗیک ﺩﺭ ﺟﺮﺍﺣی n § § n da Vinci Surgical System – a master-slave system Institute of Robotics and Mechatronics UCB/UCSF laparoscopic telesurgical workstation Zeus – a master-slave system

 Ø ﺭﺑﺎﺕ ﺟﺮﺍﺣﻲ ﺩﺍﻭﻳﻨچﻲ q ﺳﻴﺴﺘﻢ ﺟﺮﺍﺣﻲ ﺩﺍﻭﻳﻨچﻲ ) (Da. Vinci Surgical System Ø ﺭﺑﺎﺕ ﺟﺮﺍﺣﻲ ﺩﺍﻭﻳﻨچﻲ q ﺳﻴﺴﺘﻢ ﺟﺮﺍﺣﻲ ﺩﺍﻭﻳﻨچﻲ ) (Da. Vinci Surgical System

 Ø ﻣﻘﺪﻣﻪ ﺍﻱ ﺑﺮ ﺩﺍﻭﻳﻨچﻲ v ﺩﺭ 11 ﺟﻮﻻﻱ ﺳﺎﻝ 0002 ﺳﺎﺧﺘﻪ ﺷﺪ Ø ﻣﻘﺪﻣﻪ ﺍﻱ ﺑﺮ ﺩﺍﻭﻳﻨچﻲ v ﺩﺭ 11 ﺟﻮﻻﻱ ﺳﺎﻝ 0002 ﺳﺎﺧﺘﻪ ﺷﺪ Intuitive Surgical v

 ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ 1 -ﻛﻨﺴﻮﻝ ﺟﺮﺍﺣﻲ ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ 1 -ﻛﻨﺴﻮﻝ ﺟﺮﺍﺣﻲ

 ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ 2 - Patient-side Cart ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ 2 - Patient-side Cart

 ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ 3 - ﺍﺟﺰﺍﻱ ﻗﺎﺑﻞ ﺗﻔﻜﻴﻚ ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ 3 - ﺍﺟﺰﺍﻱ ﻗﺎﺑﻞ ﺗﻔﻜﻴﻚ

 ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ 4 - ﺳﻴﺴﺘﻢ ﺑﻴﻨﺎﻳﻲ ﺳﻪ ﺑﻌﺪﻱ ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ 4 - ﺳﻴﺴﺘﻢ ﺑﻴﻨﺎﻳﻲ ﺳﻪ ﺑﻌﺪﻱ

 Ø ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ Ø ﺑﺨﺸﻬﺎﻱ ﺭﺑﺎﺕ ﺩﺍﻭﻳﻨچﻲ

 ﺍﻃﻼﻋﺎﺕ ﺍﺭﻗﺎﻣی ﺩﺭ ﻣﻮﺭﺩ ﺑﺎﺯﺍﺭ ﺳیﺴﺘﻢ ﻫﺎی ﺟﺮﺍﺣی ﺭﻭﺑﺎﺕ Equipment da Vinci Surgical ﺍﻃﻼﻋﺎﺕ ﺍﺭﻗﺎﻣی ﺩﺭ ﻣﻮﺭﺩ ﺑﺎﺯﺍﺭ ﺳیﺴﺘﻢ ﻫﺎی ﺟﺮﺍﺣی ﺭﻭﺑﺎﺕ Equipment da Vinci Surgical System Zeus Robot Surgical System Aesop 3000 Hermes Control Center Socrates Robotic Telecollaboration System Costs $1 million $975, 000 $80, 000 Request price quota Company Equipment Descriptions Intuitive Surgical Robot-assistant, with arms to connect surgical instruments Computer Motion* Voice-controlled endoscopepositioning robot Computer Motion* Centralized system used to network an intelligent OR Computer Motion* Allows shared control of Aesop 3000 from different locations

 Ø ﻣﺤﺎﺳﻦ ﺟﺮﺍﺣﻲ ﻫﺎﻱ ﺭﺑﺎﺗﻴﻚ ﻛﺎﻫﺶ ﺗﻌﺪﺍﺩ ﺍﻓﺮﺍﺩ ﺩﺭ ﺍﺗﺎﻕ ﻋﻤﻞ ﺟﺮﺍﺣﻲ ﺍﺯ Ø ﻣﺤﺎﺳﻦ ﺟﺮﺍﺣﻲ ﻫﺎﻱ ﺭﺑﺎﺗﻴﻚ ﻛﺎﻫﺶ ﺗﻌﺪﺍﺩ ﺍﻓﺮﺍﺩ ﺩﺭ ﺍﺗﺎﻕ ﻋﻤﻞ ﺟﺮﺍﺣﻲ ﺍﺯ ﻓﺎﺻﻠﻪ ﺩﻭﺭ ﺍﺣﺴﺎﺱ ﺩﺭﺩ ﻭ ﺧﻮﻧﺮﻳﺰﻱ ﻛﻤﺘﺮ ﺑﻴﻤﺎﺭ ﻛﺎﻫﺶ ﺯﻣﺎﻥ ﺑﺴﺘﺮﻱ ﺷﺪﻥ ﻭ ﺍﺯ ﺩﺳﺖ ﺩﺍﺩﻥ ﺧﻮﻥ ﺳﺮﻋﺖ ﺑﻴﺸﺘﺮ ﺩﺭ ﺑﻬﺒﻮﺩ پﺲ ﺍﺯ ﻋﻤﻞ ﺍﺣﺴﺎﺱ ﺧﺴﺘگﻲ ﻛﻤﺘﺮ ﺑﺮﺍﻱ ﺟﺮﺍﺡ

 Ø ﻣﻌﺎﻳﺐ ﺭﺑﺎﺗﻬﺎﻱ ﺟﺮﺍﺡ ﻛﻨﻮﻧﻲ ﻭﺍﺑﺴﺘگﻲ ﺑﻪ ﺍﻧﺴﺎﻥ ﺳﺨﺘی یﺎﺩگیﺮی ﻗیﻤﺖ ﺑﺎﻻ ﻣﺤﺪﻭﺩیﺖ Ø ﻣﻌﺎﻳﺐ ﺭﺑﺎﺗﻬﺎﻱ ﺟﺮﺍﺡ ﻛﻨﻮﻧﻲ ﻭﺍﺑﺴﺘگﻲ ﺑﻪ ﺍﻧﺴﺎﻥ ﺳﺨﺘی یﺎﺩگیﺮی ﻗیﻤﺖ ﺑﺎﻻ ﻣﺤﺪﻭﺩیﺖ ﺩﺭ ﻣﻮﺭﺩ کﻮﺩکﺎﻥ

 ﺑﺮآﻮﺭﺩ ﺳﺮﻣﺎیﻪ ﺍﻭﻟیﻪ ﻭ ﻫﺰیﻨﻪ ﺍﻧﺠﺎﻡ ﻫﺮ ﻋﻤﻞ ﺩﺭیچﻪ ﻗﻠﺐ ﺗﻮﺳﻂ ﺩﺍﻭیﻨچی ﺩﺭ ﺑﺮآﻮﺭﺩ ﺳﺮﻣﺎیﻪ ﺍﻭﻟیﻪ ﻭ ﻫﺰیﻨﻪ ﺍﻧﺠﺎﻡ ﻫﺮ ﻋﻤﻞ ﺩﺭیچﻪ ﻗﻠﺐ ﺗﻮﺳﻂ ﺩﺍﻭیﻨچی ﺩﺭ ﺑﺎﺯﺍﺭ Maintenance/year Physician Training $1 million $100, 000 $250, 000 Cost of one inpatient hospital day $2, 000 Reduced inpatient hospital days for heart procedures 4. 5 days Cost saving per heart procedure due to reduced hospital stay $9, 000 per heart valve Extra procedure cost $2000 more per operation Surgical assistance $175, 000 for fourth arm (Compared to $80, 610 per year for extra OR nurse)

 Ø ﺗﺎﺭﻳﺨچﻪ ﺩﺍﻭﻳﻨچﻲ ﺗﺒﻠﻴﻐﺎﺕ ﺩﺭ 51 ژﺎﻧﻮﻳﻪ 3002 ﺍﺯ ﻃﺮﻳﻖ ﺍﻳﻨﺘﺮﻧﺖ 03 ژﺎﻧﻮﻳﻪ Ø ﺗﺎﺭﻳﺨچﻪ ﺩﺍﻭﻳﻨچﻲ ﺗﺒﻠﻴﻐﺎﺕ ﺩﺭ 51 ژﺎﻧﻮﻳﻪ 3002 ﺍﺯ ﻃﺮﻳﻖ ﺍﻳﻨﺘﺮﻧﺖ 03 ژﺎﻧﻮﻳﻪ 3002 ﻣﻮﺭﺩ ﺗﺎﻳﻴﺪ ﻗﺮﺍﺭ گﺮﻓﺖ 32ﻣﻲ ﺩﺭ ژﻮﺭﻧﺎﻝ ﺍﻗﺘﺼﺎﺩﻱ ﺳﻨﺖ ﺧﻮﺯﻩ ﻣﻮﺭﺩ ﺗﺤﺴﻴﻦ ﻗﺮﺍﺭ گﺮﻓﺖ ﺩﺭ 42 آﻮﺭﻳﻞ 3002 ﺷﺮﻛﺖ ﺍﺯ ﻣﺒﻠﻎ 91/2 ﻣﻴﻠﻴﻮﻥ ﺩﻻﺭ ﺑﻪ ﻋﻨﻮﺍﻥ 1/4 ﺗﺎ 33 ﺩﺭﺻﺪ ﺩﺭآﻤﺪ ﺳﺨﻦ ﻣﻲ گﻮﻳﺪ

 Ø ﺗﺎﺭﻳﺨچﻪ ﺩﺍﻭﻳﻨچﻲ ﺩﺭ ﺍﻭﺍﻳﻞ ﺳﺎﻝ 4002 ﺩﺭ آﻤﺪ ﺣﺎﺻﻞ ﺍﺯ ﻓﺮﻭﺵ آﻦ Ø ﺗﺎﺭﻳﺨچﻪ ﺩﺍﻭﻳﻨچﻲ ﺩﺭ ﺍﻭﺍﻳﻞ ﺳﺎﻝ 4002 ﺩﺭ آﻤﺪ ﺣﺎﺻﻞ ﺍﺯ ﻓﺮﻭﺵ آﻦ ﺑﻪ 831/8 ﻣﻴﻠﻴﻮﻥ ﺩﻻﺭ ﺭﺳﻴﺪ) 15 ﺩﺭﺻﺪ ﺑﻴﺶ ﺍﺯ ﺳﺎﻝ گﺬﺷﺘﻪ( ﻛﻪ ﺩﺭ ﺍﻳﻦ ﻣﺒﻠﻎ ﻫﺰﻳﻨﻪ ﺍﺟﺰﺍ ﻭ ﺗﺴﻬﻴﻼﺕ ﻭ ﺳﺮﻭﻳﺲ ﻫﺎﻱ ﻋﺮﺿﻪ ﺷﺪﻩ ﻧﻴﺰ ﺣﺴﺎﺏ ﺷﺪﻩ ﺩﺭ ﺳﺎﻝ 4002 ﺑﻪ ﺗﻨﻬﺎﻳﻲ 67 ﺩﺍﻭﻳﻨچﻲ ﺑﻪ ﺍﺭﺯﺵ ﻫﺮ ﻛﺪﺍﻡ 5. 1 ﻣﻴﻠﻴﻮﻥ ﺩﻻﺭ ﺑﻪ ﻓﺮﻭﺵ ﺭﺳﻴﺪ

FDA Approval: http: //www. intuitivesurgical. com/news_room/fda_clear. html Date Procedure April 26, 2005 Gynecological Laparoscopic FDA Approval: http: //www. intuitivesurgical. com/news_room/fda_clear. html Date Procedure April 26, 2005 Gynecological Laparoscopic Procedures January 30, 2003 Totally Endoscopic Atrial Septal Defect (ASD) November 13, 2002 Mitral valve repair surgery November 12, 2002 Thoracoscopically-Assisted Cardiotomy Procedures, K 022574 July 11, 2000 General Laparoscopic Surgery (gallbladder, gastroesophageal reflux and gynecologic surgery), K 990144 March 5, 2001 Thoracoscopic Surgery (IMA Harvesting for Coronary Artery Bypass and Lung surgery), K 002489 May 30, 2001 Laparoscopic Radical Prostatectomy, K 011002 July 31, 1997 Surgical Assistance, K 965001

2 - Institute of Robotics and Mechatronics 2 - Institute of Robotics and Mechatronics

3 - UCB/UCSF laparoscopic telesurgical workstation: 3 - UCB/UCSF laparoscopic telesurgical workstation:

3 -UCB/UCSF laparoscopic telesurgical workstation: 3 -UCB/UCSF laparoscopic telesurgical workstation:

ZEUS ZEUS

: ﻣﻨﺎﺑﻊ n n n www. bme. uconn. edu/bme/davinci/ www. biomed. brown. edu/Course/b 1108 : ﻣﻨﺎﺑﻊ n n n www. bme. uconn. edu/bme/davinci/ www. biomed. brown. edu/Course/b 1108 2005 Groups/04/davinci. html www. electronics. howstuffworks. com/roboticsurgery. html/printable www. stronghealth. com/services/surgical/aboutda vinci. cfm www. stjosephsatlanta. org/center-for-roboticsurgery/how-robotic- surgery-works. html http: //biorobotics. harvard. edu/research/heather. html http: //www. benaxelrod. com/robotvideo/index. ht ml

 ﺑﺎ ﺗﺸکﺮ ﺍﺯ ﺗﻮﺟﻪ ﺷﻤﺎ ﺑﺎ ﺗﺸکﺮ ﺍﺯ ﺗﻮﺟﻪ ﺷﻤﺎ