System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery

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 Ø15 mm skin incision to perform SPA procedures. It consists of two snake-like contin...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5546 - 5552
Main Authors Kai Xu, Goldman, R.E., Jienan Ding, Allen, P.K., Fowler, D.L., Simaan, N.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Control systems
Kinematics
Light sources
Lighting control
Parallel robots
Robot vision systems
Skin
Stereo vision
Surgery
System analysis and design
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Summary: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 Ø15 mm 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 tele-manipulation using the IREP robot is also presented.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354028