A dexterous system for laryngeal surgery

Nabil Simaan, Russell Taylor, Paul Flint

Research output: Chapter in Book/Report/Conference proceedingConference contribution

238 Citations (Scopus)

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)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages351-357
Number of pages7
Volume2004
Edition1
StatePublished - 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

Other

OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
CountryUnited States
CityNew Orleans, LA
Period4/26/045/1/04

Fingerprint

Surgery
Manipulators
Buckling
Redundancy
Kinematics
Tissue
Experiments

Keywords

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Simaan, N., Taylor, R., & Flint, P. (2004). A dexterous system for laryngeal surgery. In Proceedings - IEEE International Conference on Robotics and Automation (1 ed., Vol. 2004, pp. 351-357)

A dexterous system for laryngeal surgery. / Simaan, Nabil; Taylor, Russell; Flint, Paul.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 1. ed. 2004. p. 351-357.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Simaan, N, Taylor, R & Flint, P 2004, A dexterous system for laryngeal surgery. in Proceedings - IEEE International Conference on Robotics and Automation. 1 edn, vol. 2004, pp. 351-357, Proceedings- 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, United States, 4/26/04.
Simaan N, Taylor R, Flint P. A dexterous system for laryngeal surgery. In Proceedings - IEEE International Conference on Robotics and Automation. 1 ed. Vol. 2004. 2004. p. 351-357
Simaan, Nabil ; Taylor, Russell ; Flint, Paul. / A dexterous system for laryngeal surgery. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 1. ed. 2004. pp. 351-357
@inproceedings{760d757aa9834238b0c9d128007b4f2d,
title = "A dexterous system for laryngeal surgery",
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.",
keywords = "Master-slave mode, Multy backbone robot, NiTi, Snake robots, Surgical assistant",
author = "Nabil Simaan and Russell Taylor and Paul Flint",
year = "2004",
language = "English (US)",
volume = "2004",
pages = "351--357",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
edition = "1",

}

TY - GEN

T1 - A dexterous system for laryngeal surgery

AU - Simaan, Nabil

AU - Taylor, Russell

AU - Flint, Paul

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

KW - Master-slave mode

KW - Multy backbone robot

KW - NiTi

KW - Snake robots

KW - Surgical assistant

UR - http://www.scopus.com/inward/record.url?scp=3042619279&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=3042619279&partnerID=8YFLogxK

M3 - Conference contribution

VL - 2004

SP - 351

EP - 357

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -