A dexterous system for laryngeal surgery

Nabil Simaan, Russell Taylor, Paul Flint

Research output: Contribution to journalConference article

254 Scopus citations

Abstract

This paper presents a design overview of a novel high DoF (Degrees-of-Freedom) system being developed for minimally invasive surgery of the throat. The system is designed to allow remote operation of 2-3 tools with high tip dexterity to enable suturing and soft-tissue manipulation while using the patient's mouth as the only entry port. The slave is a 34 DoF unit equipped with three snake-like distal dexterity units for surgical tool manipulation. Each of these units is a multi-backbone snake-like mechanism equipped with a detachable milli parallel manipulator allowing interchangeable tools to be used. The paper presents the outline of the kinematic analysis of the snake-like units and proposes one possible actuation redundancy resolution to allow further downsize sealability while reducing the risk of buckling of the primary backbone of the snake-like units. Finally, the paper presents a first early experiment with a prototype of the snake-like unit.

Original languageEnglish (US)
Pages (from-to)351-357
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number1
DOIs
StatePublished - 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

Keywords

  • Master-slave mode
  • Multy backbone robot
  • NiTi
  • Snake robots
  • Surgical assistant

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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