Design of a Multitasking Robotic Platform with Flexible Arms and Articulated Head for Minimally Invasive Surgery
Identifieur interne : 001851 ( Pmc/Curation ); précédent : 001850; suivant : 001852Design of a Multitasking Robotic Platform with Flexible Arms and Articulated Head for Minimally Invasive Surgery
Auteurs : Jianzhong Shang [Royaume-Uni] ; Christopher J. Payne [Royaume-Uni] ; James Clark [Royaume-Uni] ; David P. Noonan [Royaume-Uni] ; Ka-Wai Kwok [Royaume-Uni] ; Ara Darzi [Royaume-Uni] ; Guang-Zhong Yang [Royaume-Uni]Source :
- Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems [ 2153-0858 ] ; 2012.
Abstract
This paper describes a multitasking robotic platform for Minimally Invasive Surgery (MIS). The device is designed to be introduced through a standard trocar port. Once the device is inserted to the desired surgical site, it can be reconfigured by lifting an articulated section, and protruding two tendon driven flexible arms. Each of the arms holds an interchangeable surgical instrument. The articulated section features a 2 Degrees-of-Freedom (DoF) universal joint followed by a single DoF yaw joint. It incorporates an on-board camera and LED light source at the distal end, leaving a Ø3mm channel for an additional instrument. The main shaft of the robot is largely hollow, leaving ample space for the insertion of two tendon driven flexible arms integrated with surgical instruments. The ex-vivo and in-vivo experiments demonstrate the potential clinical value of the device for performing surgical tasks through single incision or natural orifice transluminal procedures.
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DOI: 10.1109/IROS.2012.6385567
PubMed: 24748998
PubMed Central: 3988875
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Payne</name><affiliation wicri:level="1"><nlm:aff id="A1">The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ</wicri:regionArea></affiliation></author><author><name sortKey="Clark, James" sort="Clark, James" uniqKey="Clark J" first="James" last="Clark">James Clark</name><affiliation wicri:level="1"><nlm:aff id="A2">Dept. of Surgery & Cancer, Imperial College London, London, SW7 2AZ, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Dept. of Surgery & Cancer, Imperial College London, London, SW7 2AZ</wicri:regionArea></affiliation></author><author><name sortKey="Noonan, David P" sort="Noonan, David P" uniqKey="Noonan D" first="David P." last="Noonan">David P. 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Payne</name><affiliation wicri:level="1"><nlm:aff id="A1">The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ</wicri:regionArea></affiliation></author><author><name sortKey="Clark, James" sort="Clark, James" uniqKey="Clark J" first="James" last="Clark">James Clark</name><affiliation wicri:level="1"><nlm:aff id="A2">Dept. of Surgery & Cancer, Imperial College London, London, SW7 2AZ, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Dept. of Surgery & Cancer, Imperial College London, London, SW7 2AZ</wicri:regionArea></affiliation></author><author><name sortKey="Noonan, David P" sort="Noonan, David P" uniqKey="Noonan D" first="David P." last="Noonan">David P. Noonan</name><affiliation wicri:level="1"><nlm:aff id="A1">The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ</wicri:regionArea></affiliation></author><author><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka-Wai" last="Kwok">Ka-Wai Kwok</name><affiliation wicri:level="1"><nlm:aff id="A1">The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ</wicri:regionArea></affiliation></author><author><name sortKey="Darzi, Ara" sort="Darzi, Ara" uniqKey="Darzi A" first="Ara" last="Darzi">Ara Darzi</name><affiliation wicri:level="1"><nlm:aff id="A2">Dept. of Surgery & Cancer, Imperial College London, London, SW7 2AZ, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Dept. of Surgery & Cancer, Imperial College London, London, SW7 2AZ</wicri:regionArea></affiliation></author><author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name><affiliation wicri:level="1"><nlm:aff id="A1">The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ</wicri:regionArea></affiliation></author></analytic><series><title level="j">Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems</title><idno type="ISSN">2153-0858</idno><idno type="eISSN">2153-0866</idno><imprint><date when="2012">2012</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p id="P2">This paper describes a multitasking robotic platform for Minimally Invasive Surgery (MIS). The device is designed to be introduced through a standard trocar port. Once the device is inserted to the desired surgical site, it can be reconfigured by lifting an articulated section, and protruding two tendon driven flexible arms. Each of the arms holds an interchangeable surgical instrument. The articulated section features a 2 Degrees-of-Freedom (DoF) universal joint followed by a single DoF yaw joint. It incorporates an on-board camera and LED light source at the distal end, leaving a Ø3mm channel for an additional instrument. The main shaft of the robot is largely hollow, leaving ample space for the insertion of two tendon driven flexible arms integrated with surgical instruments. The ex-vivo and in-vivo experiments demonstrate the potential clinical value of the device for performing surgical tasks through single incision or natural orifice transluminal procedures.</p></div></front></TEI><pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101532742</journal-id><journal-id journal-id-type="pubmed-jr-id">37745</journal-id><journal-id journal-id-type="nlm-ta">Rep U S</journal-id><journal-id journal-id-type="iso-abbrev">Rep U S</journal-id><journal-title-group><journal-title>Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems</journal-title></journal-title-group><issn pub-type="ppub">2153-0858</issn><issn pub-type="epub">2153-0866</issn></journal-meta><article-meta><article-id pub-id-type="pmid">24748998</article-id><article-id pub-id-type="pmc">3988875</article-id><article-id pub-id-type="doi">10.1109/IROS.2012.6385567</article-id><article-id pub-id-type="manuscript">EMS57935</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Design of a Multitasking Robotic Platform with Flexible Arms and Articulated Head for Minimally Invasive Surgery</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Shang</surname><given-names>Jianzhong</given-names></name><xref ref-type="aff" rid="A1">1</xref></contrib><contrib contrib-type="author"><name><surname>Payne</surname><given-names>Christopher J.</given-names></name><xref ref-type="aff" rid="A1">1</xref></contrib><contrib contrib-type="author"><name><surname>Clark</surname><given-names>James</given-names></name><xref ref-type="aff" rid="A2">2</xref></contrib><contrib contrib-type="author"><name><surname>Noonan</surname><given-names>David P.</given-names></name><xref ref-type="aff" rid="A1">1</xref></contrib><contrib contrib-type="author"><name><surname>Kwok</surname><given-names>Ka-Wai</given-names></name><xref ref-type="aff" rid="A1">1</xref></contrib><contrib contrib-type="author"><name><surname>Darzi</surname><given-names>Ara</given-names></name><xref ref-type="aff" rid="A2">2</xref></contrib><contrib contrib-type="author"><name><surname>Yang</surname><given-names>Guang-Zhong</given-names></name><xref ref-type="aff" rid="A1">1</xref></contrib></contrib-group><aff id="A1"><label>1</label>The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK</aff><aff id="A2"><label>2</label>Dept. of Surgery & Cancer, Imperial College London, London, SW7 2AZ, UK</aff><author-notes><fn id="FN1"><p id="P1"><email>j.shang@imperial.ac.uk</email></p></fn></author-notes><pub-date pub-type="nihms-submitted"><day>10</day><month>4</month><year>2014</year></pub-date><pub-date pub-type="ppub"><day>12</day><month>10</month><year>2012</year></pub-date><pub-date pub-type="pmc-release"><day>16</day><month>4</month><year>2014</year></pub-date><volume>2012</volume><fpage>1988</fpage><lpage>1993</lpage><pmc-comment>elocation-id from pubmed: 10.1109/IROS.2012.6385567</pmc-comment>
<permissions><copyright-statement>©2012 IEEE</copyright-statement><copyright-year>2012</copyright-year></permissions><self-uri xlink:href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6385567"></self-uri><abstract><p id="P2">This paper describes a multitasking robotic platform for Minimally Invasive Surgery (MIS). The device is designed to be introduced through a standard trocar port. Once the device is inserted to the desired surgical site, it can be reconfigured by lifting an articulated section, and protruding two tendon driven flexible arms. Each of the arms holds an interchangeable surgical instrument. The articulated section features a 2 Degrees-of-Freedom (DoF) universal joint followed by a single DoF yaw joint. It incorporates an on-board camera and LED light source at the distal end, leaving a Ø3mm channel for an additional instrument. The main shaft of the robot is largely hollow, leaving ample space for the insertion of two tendon driven flexible arms integrated with surgical instruments. The ex-vivo and in-vivo experiments demonstrate the potential clinical value of the device for performing surgical tasks through single incision or natural orifice transluminal procedures.</p></abstract></article-meta></front></pmc></record>Pour manipuler ce document sous Unix (Dilib)
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