System design of an insertable robotic effector platform for Single Port Access (SPA) surgery

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

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

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 Ø15mm 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.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages5546-5552
Number of pages7
DOIs
StatePublished - Dec 11 2009
Externally publishedYes
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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