ICRA 2011 Paper Abstract

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Paper ThA213.3

Simi, Massimiliano (Scuola Superiore Sant'Anna), Sardi, Gianluca (Scuola Superiore Sant'Anna - CRIM Lab), Valdastri, Pietro (Scuola Superiore Sant'Anna), Menciassi, Arianna (Scuola Superiore Sant'Anna - SSSA), Dario, Paolo (Scuola Superiore Sant'Anna)

Magnetic Levitation Camera Robot for Endoscopic Surgery

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems VI" (ThA213), Thursday, May 12, 2011, 10:35−10:50, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 19, 2014

Keywords Medical Robots and Systems

Abstract

A wired miniature surgical camera robot with a novel Magnetic Levitation System (MLS) was modeled, designed and fabricated. A simple analysis and a theoretical model were developed in order to describe and predict basic behavior for different structural parameters of the system. The robot is composed of two main parts (head and tail) linked by a thin elastic flexible joint. The tail module embeds two magnets for anchoring and manual rough translation. The head module incorporates two motorized donut-shaped magnets and a miniaturized vision system at the tip. The MLS can exploit the external magnetic field to induce a smooth bending of the robotic head, guaranteeing a high span tilt motion of the point of view (0-80). The device is 100 mm long and 12.7 mm in diameter. Use of such a robot in single port or standard multiport laparoscopy could enable reduction of number/size of ancillary trocars, and/or increase the number of working devices that can be deployed, thus paving the way for multiple point of view laparoscopy.

 

 

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