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Paper WeD05.3

Bajo, Andrea (Vanderbilt University), Goldman, Roger E. (Columbia University), Wang, Long (Columbia University), Fowler, Dennis (Columbia University), Simaan, Nabil (Vanderbilt University)

Integration and Preliminary Evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery

Scheduled for presentation during the Regular Session "Minimally Invasive Interventions II" (WeD05), Wednesday, May 16, 2012, 17:00−17:15, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Medical Robots and Systems, Kinematics, Teleoperation

Abstract

In this paper, we present the integration and preliminary evaluation of a novel Insertable Robotic Effectors Platform (IREP) for Single Port Access Surgery (SPAS). The unique design of the IREP includes planar parallel mechanisms, continuum snake-like arms, wire-actuated wrists, and passive flexible components. While this design has advantages, it presents challenges in terms of modeling, control, and telemanipulation. The complete master-slave resolved-rates telemanipulation framework of the IREP along with its actuation compensation is presented. Experimental evaluation of the capabilities of this new surgical system include bi-manual exchange of rings, pick-and-place tasks, suture passing and knot tying. Results show that the IREP meets the minimal workspace and dexterity requirements specified for laparoscopic surgery, it allows for dual-arm operations such as tool exchange and knot tying in confined spaces. Although it was possible to tie a surgeon's knot with minimal training, suture passing was difficult due to the limited axial rotation of the distal wrists.

 

 

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