2010 Design of Medical Devices Conference Abstracts

The Present Role of Actuator Technology in Surgical Robotic Devices PUBLIC ACCESS

[+] Author and Article Information
Thomas Secord, H. Harry Asada


J. Med. Devices 4(2), 027541 (Aug 12, 2010) (1 page) doi:10.1115/1.3454862 History: Published August 12, 2010


Surgical robots have greatly facilitated numerous challenging medical procedures such as totally endoscopic coronary artery bypass grafting. Despite the initial success of some classical robotic mechanisms (e.g., the da Vinci robot from Intuitive Surgical), limitations in the fundamental hardware impose constraints on the system capabilities and ease of use. While sensing, control, and computation hardware for robotically assisted surgery continue to improve, actuator technology remains relatively unchanged. This paper reviews the state of the art in actuators for surgical robotic devices and therefore elucidates the need for further actuator technology development. A physics-based actuator taxonomy is presented followed by a classification of the prominent research areas in surgical robotics. Using this taxonomic framework, we review the present role of actuator technology in surgical robotic devices.

Copyright © 2010 by American Society of Mechanical Engineers
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