Paper Info
Title
System design of an insertable robotic effector platform for single port access (SPA) surgery
Abstract
This paper presents a novel design and preliminary kinematic analysis of an Insertable Robotic Effector Platform (IREP) for Single Port Access (SPA) Surgery. The IREP robot can be deployed into body cavity through a Ø15mm skin incision to perform SPA procedures. It consists of two snake-like continuum robots as slave surgical assistants for tissue manipulation, two parallelogram mechanisms for the continuum robots' placement, and one controllable stereo vision module with integrated light source for depth perception and tool tracking. Design considerations and alternatives, calculations and preliminary simulations of this 17-DoF surgical robotic system are presented in this paper. The overall control system hierarchy for telemanipulation using the IREP robot is also presented.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354028
IROS
Keywords
Field
DocType
slave surgical assistant,preliminary simulation,design consideration,irep robot,insertable robotic effector platform,continuum robot,spa procedure,17-dof surgical robotic system,single port access,preliminary kinematic analysis,overall control system hierarchy,system design,novel design,force,depth perception,stereo vision,robotics,robot kinematics,end effectors,control system,surgery,tissue engineering
Kinematics,Computer science,Systems design,Control engineering,Artificial intelligence,Control system,Surgery,Grippers,Robotics,Computer vision,Simulation,Robot kinematics,Robot end effector,Robot
Conference
Citations 
PageRank 
References 
32
2.80
7
Authors
6
Name
Order
Citations
PageRank
Kai Xu127141.94
Roger E. Goldman220017.69
Jienan Ding39010.07
Peter K. Allen43089268.12
Dennis L. Fowler510710.84
Nabil Simaan658962.84