Single Incision Laparoscopic Surgery Using a Miniature Robotic System

Abstract

This paper presents a robotic system aimed at solving the main drawbacks of Single Incision Laparoscopic Surgery. The system is composed of a miniature camera robot, a lighting robot to provide efficient illumination to the scene, and a robotic grasper. These devices are introduced into the abdominal cavity through the single port, and are attached to the abdominal wall by magnetic interaction. Two external robotic arms, at which end effector the magnetic holders are attached, are used to guide the internal devices along the abdominal wall. Camera and lighting robots are handled by voice commands, whereas the robotic grasper is teleoperated with a haptic device. An in-vitro experiment to compare the advantages of using this system versus a traditional procedure is developed.