NDLI: Snail surgeon: a new robotic system for minimally invasive surgery

Content Provider	IEEE Xplore Digital Library
Author	Cepolina, F. Zoppi, M.
Copyright Year	2005
Description	Author affiliation: PMAR Robot Design Res. Group, Genova Univ., Italy (Cepolina, F.; Zoppi, M.)
Abstract	The paper discusses the architecture and the workspace of a special modular surgical robot designed for minimally invasive surgery (keyhole surgery). The surgeon can be asked to operate on an organ not directly reachable through any keyhole opened on the patient abdomen, e.g. due to the presence of other organs surrounding it. In this case, an alternative to complex and dangerous displacement operations of the surrounding organs inside the patient is the use of a highly dexterous robotic arm able to reach the operating region by moving around the organs. The paper proposes a mini robot composed of modules with different mobility connected in series through mechanical/power/control interfaces. The workspace and performances of the robot can be adapted to the particular surgical operation to be carried out by changing the composition of the chain (type and position of the modules). Data stored in a database allow the easy determination of the workspace and provide information about the velocity ellipsoids and the presence of singularities. With reference to the results of the preoperative exams and by means of the information stored in the database, the best robot architecture, for the surgical operation to be carried out, can be selected.
Starting Page	45
Ending Page	50
File Size	2965022
Page Count	6
File Format	PDF
ISBN	8371432666
DOI	10.1109/ROMOCO.2005.201399
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-23
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Poznan University of Technology
Subject Keyword	Minimally invasive surgery Surges Abdomen Databases Medical robotics Mobile robots Ellipsoids Pain Surgical instruments Nose
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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