Abstract
This paper presents a design overview of a novel high DoF (Degrees-of-Freedom) system being developed for minimally invasive surgery of the throat. The system is designed to allow remote operation of 2-3 tools with high tip dexterity to enable suturing and soft-tissue manipulation while using the patient's mouth as the only entry port. The slave is a 34 DoF unit equipped with three snake-like distal dexterity units for surgical tool manipulation. Each of these units is a multi-backbone snake-like mechanism equipped with a detachable milli parallel manipulator allowing interchangeable tools to be used. The paper presents the outline of the kinematic analysis of the snake-like units and proposes one possible actuation redundancy resolution to allow further downsize sealability while reducing the risk of buckling of the primary backbone of the snake-like units. Finally, the paper presents a first early experiment with a prototype of the snake-like unit.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 351-357 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2004 |
| Issue number | 1 |
| DOIs | |
| State | Published - 2004 |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004 |
Keywords
- Master-slave mode
- Multy backbone robot
- NiTi
- Snake robots
- Surgical assistant
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering