Roboscope: A Flexible and Bendable Surgical Robot for Single Portal Minimally Invasive Surgery

Rosen, J. and Sekhar, L.N. and Glozman, D. and Miyasaka, Muneaki and Dosher, J. and Dellon, B. and Moe, K. and Kim, A.Z. and Kim, L.J. and Lendvay, T.S. and Li, Yangming and Hannaford, B. (2017) Roboscope: A Flexible and Bendable Surgical Robot for Single Portal Minimally Invasive Surgery. Robotics and Automation (ICRA), 2017 IEEE International Conference on.

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Abstract

Minimally Invasive Surgery (MIS) can reduce iatrogenic injury and decrease the possibility of surgical complications. This paper presents a novel flexible and bendable endoscopic device, “Roboscope”, which delivers two instruments, two miniature scanning fiber endoscopes, and a suction/irrigation port to the operation site through a single portal. Compared with existing bendable and steerable robotic surgical systems, Roboscope provides two bending degrees of freedom for its outer sheath and two insertion degrees of freedom, while simultaneously delivering two instruments and two endoscopes to the surgical site. Each bending axis and insertion freedom of Roboscope is independently controllable via an external actuation pack. Surgical tools can be changed without retracting the robot arm. This paper presents the design of the Roboscope mechanical system, electrical system, and control and software systems, design requirements and prototyping validation as well as analysis of Roboscope workspace.

Item Type: Article
Subjects: C Surgical Robots > C Surgical Robots(General)
Divisions: Department of Electrical Engineering
Department of Mechanical Engineering
Depositing User: Blake Hannaford
Date Deposited: 01 Mar 2018 19:42
Last Modified: 01 Mar 2018 19:42
URI: http://brl.ee.washington.edu/eprints/id/eprint/318

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