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[193] Citation: M.J.H. Lum, D. Trimble, J. Rosen, H. King, G. Sankarayanaranan, J. Dosher, R. Leuschke, B Martin-Anderson, M.N. Sinanan, B. Hannaford,
'Multidisciplinary approach for developing a new minimally invasive surgical robot system,'
Proceedings of the 2006 BioRob Conference, Pisa, Italy, February, 2006.
Abstract
The medical profession is constantly evolving
and improving in order to provide physicians with better
tools and techniques for delivering patients with more
effective health care solutions. Minimally invasive
surgery (MIS) revolutionized the way in which a number
of surgical procedures are performed resulting in quicker
postoperative recovery times. Surgical robotics provides
a new paradigm to further improve MIS interventions.
For more than a decade, the close collaboration between
the BioRobotics Lab and the Center for Video Endscopic
Surgery has taken an engineering approach to solving
clinically relevant questions. A large set of force/torque
and displacement data was collected using a device called
the Blue Dragon. This data served as a design
specification for a kinematic optimisation of a spherical
mechanism for a new surgical robot manipulator. Once
the mechanism was optimised a 6-DOF cable actuated
surgical manipulator was designed and developed
providing all the degrees of freedom of manual MIS plus
the addition of a wrist at the surgical end-effector.
Supporting electronics and controls software has been
developed and integrated into the system so that the
surgical manipulator can be teleoperated across a single
bi-direction UDP socket via a remote master device. We
present the design approach as well as the current state
of our system. Future development will include bilateral
teleoperation and clinical trials on porcine models.
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Updated: Tue Aug 19 09:16:09 2008
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