An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection

Stephen McKinley, Animesh Garg, Siddarth Sen, David V. Gealy, Jonathan P. McKinley, Yiming Jen, Menglong Guo, Walter D Boyd, Ken Goldberg

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Many surgical procedures require a sequence of different end-effectors but switching tools for robot-assisted minimally-invasive surgery (RMIS) requires time-consuming removal and replacement through the trocar port. We present an interchangeable instrument system that can be contained within the body cavity. It is based on a novel mounting mechanism compatible with a standard RMIS gripper and a tool-guide and sleeve to facilitate automated instrument switching. Experiments suggest that an Intuitive Surgical system using these interchangeable instruments can perform a multi-step tumor resection procedure that uses a novel haptic probe to localize the tumor, standard scalpel to expose the tumor, standard grippers to extract the subcutaneous tumor, and a fluid injection tool to seal the wound. Design details and video are available at: http://berkeleyautomation.github.io/surgicaltools.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PublisherIEEE Computer Society
Pages821-826
Number of pages6
Volume2016-November
ISBN (Electronic)9781509024094
DOIs
StatePublished - Nov 14 2016
Event2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 - Fort Worth, United States
Duration: Aug 21 2016Aug 24 2016

Other

Other2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
CountryUnited States
CityFort Worth
Period8/21/168/24/16

Fingerprint

Tumors
Automation
Grippers
Surgery
Robots
End effectors
Mountings
Seals
Fluids
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

McKinley, S., Garg, A., Sen, S., Gealy, D. V., McKinley, J. P., Jen, Y., ... Goldberg, K. (2016). An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection. In 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 (Vol. 2016-November, pp. 821-826). [7743487] IEEE Computer Society. https://doi.org/10.1109/COASE.2016.7743487

An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection. / McKinley, Stephen; Garg, Animesh; Sen, Siddarth; Gealy, David V.; McKinley, Jonathan P.; Jen, Yiming; Guo, Menglong; Boyd, Walter D; Goldberg, Ken.

2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. Vol. 2016-November IEEE Computer Society, 2016. p. 821-826 7743487.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

McKinley, S, Garg, A, Sen, S, Gealy, DV, McKinley, JP, Jen, Y, Guo, M, Boyd, WD & Goldberg, K 2016, An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection. in 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. vol. 2016-November, 7743487, IEEE Computer Society, pp. 821-826, 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016, Fort Worth, United States, 8/21/16. https://doi.org/10.1109/COASE.2016.7743487
McKinley S, Garg A, Sen S, Gealy DV, McKinley JP, Jen Y et al. An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection. In 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. Vol. 2016-November. IEEE Computer Society. 2016. p. 821-826. 7743487 https://doi.org/10.1109/COASE.2016.7743487
McKinley, Stephen ; Garg, Animesh ; Sen, Siddarth ; Gealy, David V. ; McKinley, Jonathan P. ; Jen, Yiming ; Guo, Menglong ; Boyd, Walter D ; Goldberg, Ken. / An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection. 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. Vol. 2016-November IEEE Computer Society, 2016. pp. 821-826
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