Special Issue: Hamlyn Symposium 2012

Journal of Robotic Surgery

, Volume 7, Issue 3, pp 235-240

Lessons learned using the insertable robotic effector platform (IREP) for single port access surgery

  • N. SimaanAffiliated withA.R.M.A. Laboratory, Department of Mechanical Engineering, Vanderbilt UniversityVanderbilt Initiative in Surgery and Engineering (VISE) Email author 
  • , A. BajoAffiliated withA.R.M.A. Laboratory, Department of Mechanical Engineering, Vanderbilt UniversityVanderbilt Initiative in Surgery and Engineering (VISE)
  • , A. ReiterAffiliated withDepartment of Computer Science, Columbia University
  • , Long WangAffiliated withA.R.M.A. Laboratory, Department of Mechanical Engineering, Vanderbilt UniversityVanderbilt Initiative in Surgery and Engineering (VISE)
  • , P. AllenAffiliated withDepartment of Computer Science, Columbia University
  • , D. FowlerAffiliated withDepartment of Surgery, Columbia University

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Abstract

This paper presents the preliminary evaluation of a robotic system for single port access surgery. This system may be deployed through a 15-mm incision. It deploys two surgical arms and a third arm manipulating a stereo-vision module that tracks instrument location. The paper presents the design of the robot along with experiments demonstrating the capabilities of this robot. The evaluation includes use of tasks from fundamentals of laparoscopic surgery, evaluation of telemanipulation accuracy, knot tying, and vision tracking of tools.

Keywords

Single port access surgery Minimally invasive surgery Natural orifice surgery