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 Scopus citations

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection'. Together they form a unique fingerprint.

  • Cite this

    McKinley, S., Garg, A., Sen, S., Gealy, D. V., McKinley, J. P., Jen, Y., Guo, M., Boyd, W. D., & 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