Paper Info
Title
Design of a Multitasking Robotic Platform with Flexible Arms and Articulated Head for Minimally Invasive Surgery.
Abstract
This paper describes a multitasking robotic platform for Minimally Invasive Surgery (MIS). The device is designed to be introduced through a standard trocar port. Once the device is inserted to the desired surgical site, it can be reconfigured by lifting an articulated section, and protruding two tendon driven flexible arms. Each of the arms holds an interchangeable surgical instrument. The articulated section features a 2 Degrees-of-Freedom (DoF) universal joint followed by a single DoF yaw joint. It incorporates an on-board camera and LED light source at the distal end, leaving a Ø3mm channel for an additional instrument. The main shaft of the robot is largely hollow, leaving ample space for the insertion of two tendon driven flexible arms integrated with surgical instruments. The ex-vivo and in-vivo experiments demonstrate the potential clinical value of the device for performing surgical tasks through single incision or natural orifice transluminal procedures.
Year
DOI
Venue
2012
10.1109/IROS.2012.6385567
IROS
Keywords
Field
DocType
medical robotics,on-board camera,2 degrees-of-freedom universal joint,articulated head,tendon driven flexible arms,minimally invasive surgery,ex-vivo experiments,in-vivo experiments,multitasking robotic platform,single dof yaw joint,interchangeable surgical instrument,led light source,mis,surgery,biomedical research,force,visualization,robots,bioinformatics,torque
Universal joint,Medical robotics,Simulation,Computer science,Surgical instrument,Human multitasking,Surgery,Robot,Light source
Conference
Volume
ISSN
ISBN
2012
2153-0858
978-1-4673-1737-5
Citations 
PageRank 
References 
15
1.42
3
Authors
7
Name
Order
Citations
PageRank
Jianzhong Shang110113.49
Christopher J. Payne2809.37
James Clark3151.42
David P. Noonan416515.32
Ka Wai Kwok516727.10
Ara Darzi649658.41
Guang-Zhong Yang72812297.66