ICRA 2011 Paper Abstract


Paper TuA213.4

Shang, Jianzhong (Imperial College London), Noonan, David (Imperial College London), Payne, Christopher (Imperial College London), Clark, James (Imperial College London), Sodergren, Mikael Hans (Imperial College), Darzi, Ara (Imperial College London), Yang, Guang-Zhong (Imperial College London)

An Articulated Universal Joint Based Flexible Access Robot for Minimally Invasive Surgery

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems II" (TuA213), Tuesday, May 10, 2011, 10:50−11:05, 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 2, 2020

Keywords Medical Robots and Systems, Biologically-Inspired Robots, Tendon/Wire Mechanism


This paper introduces an articulated robotic device based on universal joints with embedded micro motors for minimally invasive surgery. The device features an articulated distal tip with seven independently controllable degrees-of-freedom (DoF), arranged as two universal joints (intersecting pitch and yaw) and three single DoF joints (yaw); two 3mm internal channels, one for an on-board camera for visualization and the other for passing interventional instruments. The design allows the robot to explore the entire peritoneal cavity from a chosen single incision point. A trans-vaginal procedure using the device to locate the uterine horn, as a model of a human fallopian tube, and apply an endoscopic clip was carried out during a live porcine trial to demonstrate the potential for performing a Natural Orifice Translumenal Endoscopic Surgery (NOTES) tubal ligation procedure.



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