Cart (Loading....) | Create Account
Close category search window

Design of miniature modular in vivo robots for dedicated tasks in Minimally Invasive Surgery

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Tortora, G. ; BioRobotics Inst., Scuola Superiore Sant'Anna, Pisa, Italy ; Dimitracopoulos, A. ; Valdastri, P. ; Menciassi, A.
more authors

Minimally Invasive Surgery (MIS) is widespread in medical procedures aiming to provide incision-less surgery. Conventional MIS provides limited tissue manipulation, because of the constrained directionality of force application and low number of Degrees of Freedom (DoFs). Robotic systems have been proposed to overcome the limitation of this approach, but still require the same number of incisions as in traditional MIS. Thus, new approaches such as minilaparoscopy, Single Incision Laparoscopic Surgery (SILS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) have been introduced. In a prospective complete intracavitary approach, the employment of a set of robotic units capable of dedicated tasks is supposed to overcome present drawbacks in terms of dexterity, number of DoFs and triangulation. The modular in vivo robots designed have a diameter of 12 mm, already compatible with most access ports, taking multiple DoFs completely inside the patient. These robotic units have a convenient workspace for the dedicated tasks of image acquisition, retraction and manipulation, while keeping a modular structure with minimal differences between the robotic units. Specifically, three robotic units were designed: a two DoFs camera robot, a two DoFs retraction robot, and a six DoFs manipulator robot. This article illustrates the modular design of the three robotic units, the manufacturing of two modules, and the successful assembly and testing of the camera robot.

Published in:

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Date of Conference:

3-7 July 2011

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.