A Surgical Parallel Continuum Manipulator with a Cable-Driven Grasper

Orekhov, Andrew ;   Bryson, Caroline ;   Till, John ;   Chung, Scotty ;   Rucker, Daniel Caleb

Tags Surgical roboticsRemote surgery systems / telesurgeryBiomimetic robotics

In this paper, we present the design, construction, and control of a six-degree-of-freedom (DOF), 12 mm diameter, parallel continuum...

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Biometry-Based Concentric Tubes Robot for Vitreoretinal Surgery

Lin, Fang-Yu ;   Bergeles, Christos ;   Yang, Guang-Zhong

Tags Surgical roboticsRemote surgery systems / telesurgeryComputer-assisted surgery

Vitreoretinal surgery requires dexterous manoeuvres of tiny surgical tools in the confined cavity of the human eye through incisions made on...

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Development of the SAIT Single-Port Surgical Access Robot -Slave Arm based on RCM Mechanism -

Roh, Se-gon

Tags Surgical roboticsPlanning and execution in surgical roboticsComputer-assisted surgery

An innovative single-port surgical robot has recently been developed by the Samsung Advanced Institute of Technology (SAIT). The robot can...

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Estimating the Configuration of a Continuum Dexterous Manipulator with Variable Curvature Bending using Partial Shape-Sensing

Murphy, Ryan J. ;   Armand, Mehran

Tags Surgical roboticsComputer-assisted surgeryPlanning and execution in surgical robotics

Reliably estimating the shape of variable curvature continuum dexterous manipulators (CDMs) is necessary to use these devices in biomedical...

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Markerless Surgical Robotic System for Intracerebral Hemorrhage Surgery

Shin, Sangkyun ;   Cho, Hyunchul ;   Yoon, Siyeop ;   Park, Kyusic ;   Kim, Youngjun ;   Park, Sehyung ;   Kim, Laehyun ;   Lee, Deukhee

Tags Surgical roboticsPlanning and execution in surgical roboticsImage guided surgery

Conventional intracerebral hemorrhage (ICH) surgery uses a stereotactic frame to access an intracerebral hematoma. Using a stereotactic...

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Recognition of User's Activity for Adaptive Cooperative Assistance in Robotic Surgery

Nessi, Federico ;   Beretta, Elisa ;   Ferrigno, Giancarlo ;   De Momi, Elena

Tags Surgical roboticsMachine learning and control in biorobotics

During hands-on robotic surgery it is advisable to know how and when to provide the surgeon with different assistance levels with respect to...

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