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Single-port laparoscopy (SPL) has attracted continuous attention in the past decade due to the potential of generating better surgical outcomes than the traditional multiport laparoscopy. In order to ease the challenging surgical manipulation tasks using manual tools in SPL, several robotic systems were constructed to provide surgeons an intuitive way to operate. With possible improvements identified,...
SPL (Single Port Laparoscopy) might generate better surgical outcomes than multi-port laparoscopy. Hence it draws continuous attentions in the past several years. Due to its operative difficulties, several robotic systems were constructed to help surgeons with the surgical manipulation tasks. The SURS (SJTU Unfoldable Robotic System) for SPL is then proposed, aiming at introducing several improvements...
Slim and strong hyper-redundant manipulators with long reaches can perform a variety of intra-cavity tasks in confined spaces. Benefiting from a newly developed continuum mechanism and its actuation scheme, this paper proposes the design of a hyper-redundant continuum manipulator with 12 DoFs (Degrees of Freedom). With a structure synthesized in an enumerative manner, the manipulator is expected to...
Continuum manipulators attract a lot of interests due to their advantageous properties, such as distal dexterity, design compactness, intrinsic compliance for safe interaction with unstructured environments. However, these manipulators sometimes suffer from the lack of enough stiffness while applied in surgical robotic systems. This paper presents an experimental kinestatic comparison between three...
Research on robot-assisted laparoscopic SPA (Single Port Access) surgery and N.O.T.E.S (Natural Orifice Translumenal Endoscopic Surgery) have thrived in the past a few years. A configuration similarity between these surgical robotic slaves is that two robotic arms are extended from the same access port (either a laparoscope or an endoscope) for surgical interventions. However, upon designing such...
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 ??15 mm 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...
This paper presents two actuation compensation methods for a snake-like robot implementing multi flexible backbones and actuation redundancy. This snake-like robot is designed for distal dexterity enhancement in MIS surgery of the throat. Actuation compensation is required to account for the flexibility of the actuation lines that connect this snake-like robot with its remote actuation units. The...
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