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EndoSnake—A Single-Arm-Multi-Port MIRS System with Flexible Instruments

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

Recently, the use of robotic assisted systems for minimally invasive surgery has increased. This is due to the precise manipulation and miniaturisation of the used equipment. The systems can be divided into multi-port and single-port robots, both with the aim of trauma reduction but with different approaches. On the one hand there are multiple robots, one with each instrument or camera and on the other hand there are small flexible instruments and only one incision in the abdominal wall. In this paper, a novel robotic system is presented that combines in a hybrid way the prior described characteristics and continues the medical aims of trauma reduction and surgeon comfort. One single lightweight robot with three individual configurable flexible instruments is being researched. Additionally, the modular hardware and software architecture is based on the open-source idea and rapid-manufacturing processes.

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Acknowledgments

This work is funded by the Ministry of Science, Research and the Arts (MWK) of the state of Baden-Wuerttemberg as part of the funding programme “Innovative Projects” and the German Research Foundation (DFG).

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Authors and Affiliations

  1. Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics and Robotics (IAR)–Intelligent Process Control and Robotics (IPR), Karlsruhe, Germany

    Julien Mintenbeck, Christoph Ledermann & Heinz Wörn

  2. University of Applied Science Karlsruhe (HSKA), Department of Mechanical Engineering, Karlsruhe, Germany

    Julien Mintenbeck & Ramon Estaña

Authors
  1. Julien Mintenbeck
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  2. Christoph Ledermann
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  3. Ramon Estaña
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  4. Heinz Wörn
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Corresponding author

Correspondence to Julien Mintenbeck .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Mintenbeck, J., Ledermann, C., Estaña, R., Wörn, H. (2016). EndoSnake—A Single-Arm-Multi-Port MIRS System with Flexible Instruments. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_80

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_80

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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