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Technical Briefs

Gross Positioning System for In Vivo Surgical Devices

[+] Author and Article Information
Shane Farritor

Department of Mechanical and Materials Engineering,
University of Nebraska-Lincoln

Dmitry Oleynikov

Department of Surgery,
University of Nebraska Medical Center

Manuscript received March 15, 2013; final manuscript received April 29, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030922 (Jul 03, 2013) (2 pages) Paper No: MED-13-1077; doi: 10.1115/1.4024523 History: Received March 15, 2013; Revised April 29, 2013

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Copyright © 2013 by ASME
Topics: Surgery
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References

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Wortman, T. D., Strabala, K. W., Lehman, A. C., Farritor, S. M., and Oleynikov, D., 2011, “Laparoendoscopic Single-Site Surgery Using a Multi-Functional Miniature in vivo Robot,” The International Journal of Medical Robotics and Computer Assisted Surgery, 7(1), pp. 17–21. [CrossRef]
Piccigallo, M., Scarfogliero, U., Quaglia, C., Petroni, G., Valdastri, P., Menciassi, A., Dario, P., 2010, “Design of a Novel Bimanual Robotic System for Single-Port Laparoscopy,” IEEE/ASME Transaction on Mechatronics, 15, pp. 871–878.
Ding, J., Xu, K., Goldman, R., Allen, P., Fowler, D., and Simaan, N., “Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery,” in Proc. of IEEE International Conference on Robotics and Automation (ICRA) 2010, Anchorage AK, pp. 1053–1058.
Nathan, C. A., Chakradeo, V., Malhotra, K., D'Agostino, H., and Patwardhan, R., 2006, “The Voice-Controlled Robotic Assist Scope Holder AESOP for the Endoscopic Approach to the Sella, Skull Base, 16(3), pp. 123–131. [CrossRef] [PubMed]
Lum, M., Friedman, D., Sankaranarayanan, G., King, H., Fodero, K., Leuschke, R., Hannaford, B., Rosen, J., and Sinanan, M., 2009. “The RAVEN -Design and Validation of a Telesurgery System.” International Journal of Robotics Research, 28, Online.
Nelson, C., Zhang, X., Shah, B. C., Goed, M. R., and Oleynikov, D., 2009. “Multipurpose Surgical Robot as a Laparoscope Assistant.” Surgical Endoscopy, Epub ahead of print.
Yoshikawa, T. (1985, March). Manipulability and Redundancy Control of Robotic Mechanisms. In Robotics and Automation. Proceedings. 1985 IEEE International Conference on (Vol. 2, pp. 1004–1009). IEEE.

Figures

Grahic Jump Location
Fig. 1

A “cardboard” model of the four degree of freedom gross positioning system with a miniature in vivo surgical robot attached. The axis of rotation or translation for each degree of freedom is shown in red. The inserction point is depicted by the intersecting axes, along the prismatic joint, D4.

Grahic Jump Location
Fig. 2

Proof of concept benchtop testing of the gross positioning system with the fundamentals of laparoscopic surgery (FLS) peg transfer task. The visual feedback provided to the operator is shown on the top right.

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