Integration and preliminary evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery. Bajo, A., Goldman, R. E., Wang, L., Fowler, D., & Simaan, N. In 2012 IEEE International Conference on Robotics and Automation, pages 3381–3387, May, 2012. doi abstract bibtex In this paper, we present the integration and preliminary evaluation of a novel Insertable Robotic Effectors Platform (IREP) for Single Port Access Surgery (SPAS). The unique design of the IREP includes planar parallel mechanisms, continuum snake-like arms, wire-actuated wrists, and passive flexible components. While this design has advantages, it presents challenges in terms of modeling, control, and telemanipulation. The complete master-slave resolved-rates telemanipulation framework of the IREP along with its actuation compensation is presented. Experimental evaluation of the capabilities of this new surgical system include bi-manual exchange of rings, pick-and-place tasks, suture passing and knot tying. Results show that the IREP meets the minimal workspace and dexterity requirements specified for laparoscopic surgery, it allows for dual-arm operations such as tool exchange and knot tying in confined spaces. Although it was possible to tie a surgeon's knot with minimal training, suture passing was difficult due to the limited axial rotation of the distal wrists.
@inproceedings{bajo_integration_2012,
title = {Integration and preliminary evaluation of an {Insertable} {Robotic} {Effectors} {Platform} for {Single} {Port} {Access} {Surgery}},
doi = {10.1109/ICRA.2012.6224986},
abstract = {In this paper, we present the integration and preliminary evaluation of a novel Insertable Robotic Effectors Platform (IREP) for Single Port Access Surgery (SPAS). The unique design of the IREP includes planar parallel mechanisms, continuum snake-like arms, wire-actuated wrists, and passive flexible components. While this design has advantages, it presents challenges in terms of modeling, control, and telemanipulation. The complete master-slave resolved-rates telemanipulation framework of the IREP along with its actuation compensation is presented. Experimental evaluation of the capabilities of this new surgical system include bi-manual exchange of rings, pick-and-place tasks, suture passing and knot tying. Results show that the IREP meets the minimal workspace and dexterity requirements specified for laparoscopic surgery, it allows for dual-arm operations such as tool exchange and knot tying in confined spaces. Although it was possible to tie a surgeon's knot with minimal training, suture passing was difficult due to the limited axial rotation of the distal wrists.},
booktitle = {2012 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
author = {Bajo, A. and Goldman, R. E. and Wang, L. and Fowler, D. and Simaan, N.},
month = may,
year = {2012},
keywords = {End effectors, Jacobian matrices, Kinematics, Redundancy, Robots, Surgery, Vectors, Wrist, axial rotation, bimanual ring exchange, continuum snake-like arms, distal wrists, dual-arm operations, end effectors, insertable robotic effectors platform, kinematics, knot tying, master-slave resolved-rates telemanipulation framework, medical robotics, passive flexible components, pick-and-place tasks, planar parallel mechanisms, redundancy, single port access surgery, surgery, suture passing, telemanipulation, telerobotics, tool exchange, wire-actuated wrists},
pages = {3381--3387}
}
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