μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design

Tzemanaki, Antonia; Burton, Thomas M. W.; Gillat, David; Melhuish, Chris; Persad, Raj; Pipe, Anthony G.; Dogramadzi, Sanja

Abstract

Abdominal surgery has seen a rapid transition from open procedures to Robot-Assisted Minimally Invasive Surgery (R-A MIS). The learning process for new surgeons is long compared to open surgery, and the desired dexterity cannot always be achieved using the current surgical instruments. Furthermore, the way that these instruments are controlled plays an important role in their effectiveness and the ergonomics of the procedure. This paper presents the μAngelo Surgical System for R-A abdominal MIS, based on an anthropomorphic design comprising two three-digit surgical instruments and a sensory hand exoskeleton. The operation of these subsystems and the efficacy of their corresponding performance are demonstrated.

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
• Start Date: Aug 12, 2014
• End Date: Aug 15, 2014
• Publication Date: Aug 12, 2014
• Deposit Date: Sep 15, 2014
• Peer Reviewed: Peer Reviewed
• Pages: 369-374
• Keywords: microangelo, anthropomorphic, minimally invasive surgery
• Public URL: https://uwe-repository.worktribe.com/output/813630
• Publisher URL: http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/BioRob_2014/media/files/0042.pdf
• Related Public URLs: http://ieeexplore.ieee.org/servlet/opac?punumber=1002044
• Additional Information: Title of Conference or Conference Proceedings : 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
• Contract Date: Apr 12, 2016