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Paper WeD05.1

Xu, Kai (Shanghai Jiao Tong University), Zheng, Xidian (Shanghai Jiao Tong University)

Configuration Comparison for Surgical Robotic Systems Using a Single Access Port and Continuum Mechanisms

Scheduled for presentation during the Regular Session "Minimally Invasive Interventions II" (WeD05), Wednesday, May 16, 2012, 16:30−16:45, 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 18, 2017

Keywords Medical Robots and Systems, Compliant Joint/Mechanism, Animation and Simulation

Abstract

Research on robot-assisted laparoscopic SPA (Single Port Access) surgery and N.O.T.E.S (Natural Orifice Translumenal Endoscopic Surgery) have thrived in the past a few years. A configuration similarity between these surgical robotic slaves is that two robotic arms are extended from the same access port (either a laparoscope or an endoscope) for surgical interventions. However, upon designing such a surgical robotic slave, the structure of the extended robotic arms has not been explored thoroughly based on evaluation of their distal dexterity. This paper presents a simulation-based comparison among three different structures which could be used to form these extended robotic arms. Results presented in this paper could serve as a design reference for surgical robotic slaves which use a single access port and continuum mechanisms.

 

 

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