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The i2Snake robotic platform for endoscopic surgery

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Title: The i2Snake robotic platform for endoscopic surgery
Authors: Berthet-Rayne, P
Gras, G
Leibrandt, K
Wisanuvej, P
Schmitz, A
Seneci, CA
Yang, G-Z
Item Type: Journal Article
Abstract: Endoscopic procedures have transformed minimally invasive surgery as they allow the examination and intervention on a patient's anatomy through natural orifices, without the need for external incisions. However, the complexity of anatomical pathways and the limited dexterity of existing instruments, limit such procedures mainly to diagnosis and biopsies. This paper proposes a new robotic platform: the Intuitive imaging sensing navigated and kinematically enhanced ([Formula: see text]) robot that aims to improve the field of endoscopic surgery. The proposed robotic platform includes a snake-like robotic endoscope equipped with a camera, a light-source and two robotic instruments, supported with a robotic arm for global positioning and for insertion of the [Formula: see text] and a master interface for master-slave teleoperation. The proposed robotic platform design focuses on ergonomics and intuitive control. The control workflow was first validated in simulation and then implemented on the robotic platform. The results are consistent with the simulation and show the clear clinical potential of the system. Limitations such as tendon backlash and elongation over time will be further investigated by means of combined hardware and software solutions. In conclusion, the proposed system contributes to the field of endoscopic surgical robots and could allow to perform more complex endoscopic surgical procedures while reducing patient trauma and recovery time.
Issue Date: 1-Oct-2018
Date of Acceptance: 15-May-2018
URI: http://hdl.handle.net/10044/1/61626
DOI: https://dx.doi.org/10.1007/s10439-018-2066-y
ISSN: 0090-6964
Publisher: Springer Verlag
Start Page: 1663
End Page: 1675
Journal / Book Title: Annals of Biomedical Engineering
Volume: 46
Issue: 10
Copyright Statement: © The Author(s) 2018. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/J021199/1
EP/P012779/1
Keywords: Science & Technology
Technology
Engineering, Biomedical
Engineering
Medical robotics
Minimally invasive surgery
Endoscopy
Snake-like
Tendon-driven
Teleoperation
MANIPULATION
Endoscopy
Medical robotics
Minimally invasive surgery
Snake-like
Teleoperation
Tendon-driven
Humans
Robotic Surgical Procedures
Video-Assisted Surgery
Humans
Video-Assisted Surgery
Robotic Surgical Procedures
Endoscopy
Medical robotics
Minimally invasive surgery
Snake-like
Teleoperation
Tendon-driven
11 Medical and Health Sciences
09 Engineering
Biomedical Engineering
Publication Status: Published
Conference Place: United States
Online Publication Date: 2018-06-11
Appears in Collections:Faculty of Engineering
Computing



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