Sensory-motor enhancement in minimally invasive robotic surgery

Robot-assisted surgery has revolutionized many surgical subspecialties, mainly where procedures must be performed in confined, difficult to visualize spaces. The introduction of a robot interposed between patients and surgeons has paved the way for the development of advanced tools, sensing systems and control strategies aimed at improving surgeons capabilities. We imagine a surgeon of tomorrow work in a symbiotic interaction with the robotic systems sharing cognitive and manipulation skills to define new levels of precision, performance and effectiveness in common surgical procedures. In the thesis, these topics are addressed, presenting new sensing strategies and devices, new surgical instruments with high dexterity capabilities and new human-in-the-loop control strategies to improve surgeon’s abilities.