The design and fabrication of a meso scale minimally invasive surgical robot

single port, laparoscopic surgery, surgical robot, haptic device

Toombs, Nicholas Joseph ; Ferreira ; Placid M.

关键词: single port, laparoscopic surgery, surgical robot, haptic device;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/100413/TOOMBS-THESIS-2016.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

Minimally invasive robotic Single Port Laparoscopic Surgery (SPLS) is of high importance, due to its ability to reduce operation times, recovery times, postoperative infection rates and improve cosmesis while providing surgeons with greater dexterity and precision than traditional SPLS techniques. Previous approaches to robotic SPLS rely on modifications to devices meant for multi-port procedures. These approaches suffer from larger port sizes and triangulation problems. Here, we propose a scheme for SPLS involving 6 degree-of-freedom robot manipulators and lumen design that translates the dexterity and triangulation capabilities of the human arm to the internal operating field using an insertion scheme where four 9 mm tools can be passed through a single 18 mm lumen.