High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway

Nabil Simaan, Russell Taylor, Paul Flint

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

67 Citations (Scopus)

Abstract

This paper reports our efforts to develop an integrated system for telesurgery of the throat and upper airway. The system is described while focusing on the novel design of its slave robot. The slave robot is a 3-armed robot that implements novel Distal Dexterity Units (DDU's). These DDU's are dexterous robots for surgical tool manipulation and suturing in confined spaces. Each DDU is composed from a Snake-Like Unit (SLU) and a detachable Parallel Manipulation unit (PMU). The proposed design of the DDU's provides an enhanced downsize scalability and distal dexterity that are crucial for medical applications such as laryngeal surgery where simultaneous manipulation of 2-3 long tools through a narrow laryngeoscope is required. The paper presents the design of these units and the experimentation results with a 4.2 mm diameter SLU to be used for constructing the first DDU for the 3-armed slave robot.

Original languageEnglish (US)
Title of host publicationLecture Notes in Computer Science
EditorsC. Barillot, D.R. Haynor, P. Hellier
Pages17-24
Number of pages8
Volume3217
Edition1 PART 2
StatePublished - 2004
Externally publishedYes
EventMedical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings - Saint-Malo, France
Duration: Sep 26 2004Sep 29 2004

Other

OtherMedical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings
CountryFrance
CitySaint-Malo
Period9/26/049/29/04

Fingerprint

Robotics
Robots
Medical applications
Surgery
Scalability

ASJC Scopus subject areas

  • Computer Science (miscellaneous)

Cite this

Simaan, N., Taylor, R., & Flint, P. (2004). High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway. In C. Barillot, D. R. Haynor, & P. Hellier (Eds.), Lecture Notes in Computer Science (1 PART 2 ed., Vol. 3217, pp. 17-24)

High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway. / Simaan, Nabil; Taylor, Russell; Flint, Paul.

Lecture Notes in Computer Science. ed. / C. Barillot; D.R. Haynor; P. Hellier. Vol. 3217 1 PART 2. ed. 2004. p. 17-24.

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

Simaan, N, Taylor, R & Flint, P 2004, High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway. in C Barillot, DR Haynor & P Hellier (eds), Lecture Notes in Computer Science. 1 PART 2 edn, vol. 3217, pp. 17-24, Medical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings, Saint-Malo, France, 9/26/04.
Simaan N, Taylor R, Flint P. High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway. In Barillot C, Haynor DR, Hellier P, editors, Lecture Notes in Computer Science. 1 PART 2 ed. Vol. 3217. 2004. p. 17-24
Simaan, Nabil ; Taylor, Russell ; Flint, Paul. / High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway. Lecture Notes in Computer Science. editor / C. Barillot ; D.R. Haynor ; P. Hellier. Vol. 3217 1 PART 2. ed. 2004. pp. 17-24
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