Paper Info
Title
Design and evaluation of a novel flexible robot for transluminal and endoluminal surgery
Abstract
Precise and repetitive positional control of surgical robots is important to reduce time and risks of surgical procedures. These factors become particularly important when deploying the surgical system through a flexible path to areas with a tight workspace such as the stomach or oesophagus where high dexterity, flexibility, accuracy and stability are required. This paper presents a flexible access robot combining articulated joints and continuum flexible section for both transluminal and endoluminal surgeries. Kinematic model and control strategy for the flexible robot are described in the paper. The experiment simulating a transoral gastric procedure demonstrates great flexibility and dexterity of the device. The results show that good accuracy and repetitive control of the device are achieved, which demonstrate the potential application of the device for transluminal or endoluminal surgery.
Year
DOI
Venue
2014
10.1109/IROS.2014.6942727
Intelligent Robots and Systems
Keywords
DocType
ISSN
dexterous manipulators,manipulator kinematics,medical robotics,surgery,articulated joints,continuum flexible section,control strategy,dexterity,endoluminal surgery,flexible access robot,kinematic model,oesophagus,repetitive positional control,stability,stomach,surgical procedures,surgical robots,surgical system,transluminal surgery,transoral gastric procedure
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
8
Name
Order
Citations
PageRank
Carlo A. Seneci192.21
Jianzhong Shang210113.49
Konrad Leibrandt3235.63
Valentina Vitiello4487.12
Nisha Patel5141.48
Ara Darzi649658.41
Julian Teare7100.98
Guang-Zhong Yang82812297.66