Macro-Micro Multi-Arm Robot for Single-Port Access Surgery

Minimally invasive surgery is now a well established field in surgery but continuous efforts are made to reduce invasiveness even further. This paper proposes a novel concept of small-diameter multi-arm robot for SinglePort Access Surgery. The concept introduces a combination of backbone and actuati...

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Bibliographic Details
Published in:	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 425 - 432
Main Authors:	Vandebroek, T., Ourak, M., Gruijthuijsen, C., Javaux, A., Legrand, J., Vercauteren, T., Ourselin, S., Deprest, J., Poorten, E.Vander
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-11-2019
Online Access:	Get full text
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Summary:	Minimally invasive surgery is now a well established field in surgery but continuous efforts are made to reduce invasiveness even further. This paper proposes a novel concept of small-diameter multi-arm robot for SinglePort Access Surgery. The concept introduces a combination of backbone and actuation principles in a macro-micro fashion to achieve an excellent decoupling of the triangulation platform (macro) and of the end-effectors (micro). Concentric tube robots are used for the triangulation platform, while compliant fluidic-actuated bending segments are used as end-effectors. The fluidic actuation is advantageous as it minimally interferes with the triangulation platform. The triangulation platform on the other hand provides a stable base for the end-effectors such that large distal actuation bandwidth can be achieved. A specific embodiment for Spina Bifida repair is developed and proposed. The surgical and technical requirements as well as the mechanical design are presented in details. A first prototype is built and characterization experiments are conducted to evaluate its performance.
ISSN:	2153-0866
DOI:	10.1109/IROS40897.2019.8968219