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

Author

Xu, Kai ; Goldman, Roger E. ; Ding, Jienan ; Allen, Peter K. ; Fowler, Dennis L. ; Simaan, Nabil

Author_Institution

Dept. of Mech. Eng., Columbia Univ., New York, NY, USA

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

5546

Lastpage

5552

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 Ã˜15 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.

Keywords

end effectors; medical robotics; robot kinematics; stereo image processing; surgery; tissue engineering; 17-DoF surgical robotic system; IREP robot; body cavity; controllable stereo vision module; depth perception; insertable robotic effector platform; integrated light source; kinematic analysis; parallelogram mechanisms; single port access surgery; skin incision; slave surgical assistants; snake-like continuum robots; system design; telemanipulation; tissue manipulation; tool tracking; Control systems; Kinematics; Light sources; Lighting control; Parallel robots; Robot vision systems; Skin; Stereo vision; Surgery; System analysis and design;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354028

Filename

5354028