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Paper WeC05.4

Castro, Cristian (University Of South Florida), Smith, Sara (University Of South Florida), Alqassis, Adham (University Of South Florida), Ketterl, Thomas (University Of South Florida), Sun, Yu (University of South Florida), Ross, Sharona (University Of South Florida), Rosemurgy, Alexander (University Of South Florida), Savage, Peter (independent consultant), Gitlin, Richard (University Of South Florida)

MARVEL: A Wireless Miniature Anchored Robotic Videoscope for Expedited Laparoscopy

Scheduled for presentation during the Regular Session "Image-Guided Interventions" (WeC05), Wednesday, May 16, 2012, 15:15−15:30, 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 June 19, 2018

Keywords Medical Robots and Systems, Networked Robots

Abstract

This paper describes the design and implementation of a Miniature Anchored Robotic Videoscope for Expedited Laparoscopy (MARVEL) camera module that features wireless communications and control. This device decreases the surgical-tool bottleneck experienced by surgeons in state-of-the art Laparoscopic Endoscopic Single-Site (LESS) procedures for minimally invasive abdominal surgery. The system includes: (1) a near-zero latency wireless communications link, (2) a pan/tilt camera platform, actuated by two tiny motors that gives surgeons a full field of view inside the abdominal cavity, (3) a small wireless camera, (4) a wireless luminosity control system, and (5) a wireless human-machine interface to control the device. An in-vivo experiment on a porcine subject was carried out to test the general performance of the system. The robotic design is a proof of concept, which creates a research platform for a broad range of experiments in a range of domains for faculty and students in the Colleges of Engineering and Medicine and at Tampa General Hospital. This research is the first step in developing semi-autonomous wirelessly controllable and observable communicating and networked laparoscopic devices to enable a paradigm shift in minimally invasive surgery.

 

 

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