Journal
JOURNAL OF ROBOTIC SURGERY
Volume 7, Issue 3, Pages 235-240Publisher
SPRINGER LONDON LTD
DOI: 10.1007/s11701-013-0400-9
Keywords
Single port access surgery; Minimally invasive surgery; Natural orifice surgery
Categories
Funding
- NIH [7R21EB007779]
- NSF [IIS-1063750]
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1063750] Funding Source: National Science Foundation
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This paper presents the preliminary evaluation of a robotic system for single port access surgery. This system may be deployed through a 15-mm incision. It deploys two surgical arms and a third arm manipulating a stereo-vision module that tracks instrument location. The paper presents the design of the robot along with experiments demonstrating the capabilities of this robot. The evaluation includes use of tasks from fundamentals of laparoscopic surgery, evaluation of telemanipulation accuracy, knot tying, and vision tracking of tools.
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