MEDICON 2013 - Single Incision Laparoscopic Surgery Using a Miniature Robotic System
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This paper presents a robotic system aimed at solving the main drawbacks of Single Incision Laparoscopic Surgery. The system is composed of a miniature camera robot, a lighting robot to provide efficient illumination to the scene, and a robotic grasper. These devices are introduced into the abdominal cavity through the single port, and are attached to the abdominal wall by magnetic interaction. Two external robotic arms, at which end effector the magnetic holders are attached, are used to guide the internal devices along the abdominal wall. Camera and lighting robots are handled by voice commands, whereas the robotic grasper is teleoperated with a haptic device. An in-vitro experiment to compare the advantages of using this system versus a traditional procedure is developed.
MEDICON 2013 - Single Incision Laparoscopic Surgery Using a Miniature Robotic System
- 1. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines Irene Rivas Blanco M. Cuevas-Rodriguez, E. Bauzano, J. Gomez-deGabriel, V.F. Mu単oz Department of System Engineering and Automation University of M叩laga (Spain) SINGLE INCISION LAPAROSCOPIC SURGERY USING A MINIATURE ROBOTIC SYSTEM
- 2. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines I. INTRODUCTION II. SYSTEM DESCRIPTION III. EXPERIMENTS IV.CONCLUSIONS & FUTURE WORK INDEX
- 3. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines I. INTRODUCTION Single Incision Laparoscopic Surgery (SILS) Loss of triangulation between camera and instruments Limitation of the range of motion of instruments outside the abdomen
- 4. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines I. INTRODUCTION Magnetic holder Robotic arm Robotic arm Magnetic holder Robotic grasper Magnetic holder Lighting robot Entry port Camera robot Robotic system for SILS
- 5. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines II. SYSTEM DESCRIPTION Wrist attachment Magnetic holders Camera robot Lighting robot Pan Tilt -42尊 42尊 C B A Camera and lighting robots
- 6. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines II. SYSTEM DESCRIPTION 12 cm 3,5cm 2 cm Lighting robot - 6 LEDs - 2 x 3V batteries - 2 hours of autonomy 4,5cm Camera robot - Wireless camera - 6 LEDs - 7 x 1.3V batteries - 2 hours of autonomy
- 7. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines II. SYSTEM DESCRIPTION
- 8. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines II. SYSTEM DESCRIPTION Robotic grasper Magnetic holder Motors Central magnet Distal magnets Grasper fingers
- 9. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines II. SYSTEM DESCRIPTION
- 10. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines III. EXPERIMENTS Task: tumor retraction 1. Retract the gall bladder 2. Cutting 3. Retract the tumor Aim of the experiment - To compare the performance of the task with the robotic system versus a traditional environment (human assistant) - Measured variable: time employed to perform the task by 5 users
- 11. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines III. EXPERIMENTS Traditional environment The assistant holds the camera and a grasper tool Extra incision for the additional grasper Mean time: 2 minutes 56 seconds
- 12. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines III. EXPERIMENTS Robotic environment The assistant teleoperates the robotic grasper No need of an extra incision Mean time: 2 minutes 53 seconds
- 13. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines III. CONCLUSIONS AND FUTURE WORK The camera robot solves the problem of the loss of triangulation and reduces the number of instruments sharing the single port The lighting system provides more illumination to the operation area The robotic grasper avoids the need of an extra incision when more than two instruments are required Reduce the overall size of the camera robot Provide the robotic grasper with force sensor at the tip Conclusions Future Work
- 14. DepartmentofSysyem EngineeeringandAutomation V鱈ctor F. Mu単oz Mart鱈nez Research lines THANK YOU FOR YOUR ATTENTION