A Miniature Robot for Retraction Tasks under Vision Assistance in Minimally Invasive Surgery
| Autor: | Tommaso Ranzani, Iris De Falco, Paolo Dario, Giuseppe Tortora, Arianna Menciassi |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2014 |
| Předmět: |
0209 industrial biotechnology
Engineering Modern medicine Control and Optimization lcsh:Mechanical engineering and machinery retraction robot 02 engineering and technology 03 medical and health sciences Brushless motors 020901 industrial engineering & automation 0302 clinical medicine Artificial Intelligence Human–computer interaction lcsh:TJ1-1570 miniature robot minimally invasive surgery internal motors actuation Simulation business.industry Mechanical Engineering Degrees of freedom Natural orifice transluminal endoscopic surgery 3. Good health Invasive surgery Robot 030211 gastroenterology & hepatology business Target organ |
| Zdroj: | Robotics; Volume 3; Issue 1; Pages: 70-82 Robotics, Vol 3, Iss 1, Pp 70-82 (2014) |
| Popis: | Minimally Invasive Surgery (MIS) is one of the main aims of modern medicine. It enables surgery to be performed with a lower number and severity of incisions. Medical robots have been developed worldwide to offer a robotic alternative to traditional medical procedures. New approaches aimed at a substantial decrease of visible scars have been explored, such as Natural Orifice Transluminal Endoscopic Surgery (NOTES). Simple surgical tasks such as the retraction of an organ can be a challenge when performed from narrow access ports. For this reason, there is a continuous need to develop new robotic tools for performing dedicated tasks. This article illustrates the design and testing of a new robotic tool for retraction tasks under vision assistance for NOTES. The retraction robots integrate brushless motors to enable additional degrees of freedom to that provided by magnetic anchoring, thus improving the dexterity of the overall platform. The retraction robot can be easily controlled to reach the target organ and apply a retraction force of up to 1.53 N. Additional degrees of freedom can be used for smooth manipulation and grasping of the organ. |
| Databáze: | OpenAIRE |
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