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Conference Paper: Design of a multitasking robotic platform with flexible arms and articulated head for Minimally Invasive Surgery

TitleDesign of a multitasking robotic platform with flexible arms and articulated head for Minimally Invasive Surgery
Authors
Issue Date2012
Citation
IEEE International Conference on Intelligent Robots and Systems, 2012, p. 1988-1993 How to Cite?
AbstractThis paper describes a multitasking robotic platform for Minimally Invasive Surgery (MIS). The device is designed to be introduced through a standard trocar port. Once the device is inserted to the desired surgical site, it can be reconfigured by lifting an articulated section, and protruding two tendon driven flexible arms. Each of the arms holds an interchangeable surgical instrument. The articulated section features a 2 Degrees-of-Freedom (DoF) universal joint followed by a single DoF yaw joint. It incorporates an on-board camera and LED light source at the distal end, leaving a O3mm channel for an additional instrument. The main shaft of the robot is largely hollow, leaving ample space for the insertion of two tendon driven flexible arms integrated with surgical instruments. The ex-vivo and in-vivo experiments demonstrate the potential clinical value of the device for performing surgical tasks through single incision or natural orifice transluminal procedures. © 2012 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/200120
ISSN

 

DC FieldValueLanguage
dc.contributor.authorShang, Jianzhong-
dc.contributor.authorPayne, Christopher J.-
dc.contributor.authorClark, James A.-
dc.contributor.authorNoonan, David P.-
dc.contributor.authorKwok, Kawai-
dc.contributor.authorDarzi, Ara W.-
dc.contributor.authorYang, Guangzhong-
dc.date.accessioned2014-07-26T23:11:09Z-
dc.date.available2014-07-26T23:11:09Z-
dc.date.issued2012-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2012, p. 1988-1993-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/200120-
dc.description.abstractThis paper describes a multitasking robotic platform for Minimally Invasive Surgery (MIS). The device is designed to be introduced through a standard trocar port. Once the device is inserted to the desired surgical site, it can be reconfigured by lifting an articulated section, and protruding two tendon driven flexible arms. Each of the arms holds an interchangeable surgical instrument. The articulated section features a 2 Degrees-of-Freedom (DoF) universal joint followed by a single DoF yaw joint. It incorporates an on-board camera and LED light source at the distal end, leaving a O3mm channel for an additional instrument. The main shaft of the robot is largely hollow, leaving ample space for the insertion of two tendon driven flexible arms integrated with surgical instruments. The ex-vivo and in-vivo experiments demonstrate the potential clinical value of the device for performing surgical tasks through single incision or natural orifice transluminal procedures. © 2012 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleDesign of a multitasking robotic platform with flexible arms and articulated head for Minimally Invasive Surgery-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2012.6385567-
dc.identifier.scopuseid_2-s2.0-84872362173-
dc.identifier.spage1988-
dc.identifier.epage1993-
dc.identifier.eissn2153-0866-

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