Dexterous miniature robot for advanced minimally invasive surgery |
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Authors: | Amy C Lehman Nathan A Wood Shane Farritor Matthew R Goede Dmitry Oleynikov |
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Institution: | (1) University of Nebraska-Lincoln, N104 Walter Scott Engineering Center, P.O. Box 880656, Lincoln, NE 68588-0656, USA;(2) University of Nebraska Medical Center, 985126 Nebraska Medical Center, Omaha, NE 68198-5126, USA; |
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Abstract: | This study demonstrates the feasibility of using a miniature robot to perform complex, single-incision, minimal access surgery.
Instrument positioning and lack of triangulation complicate single-incision laparoscopic surgery, and open surgical procedures
are highly invasive. Using minimally invasive techniques with miniature robotic platforms potentially offers significant clinical
benefits. A miniature robot platform has been designed to perform advanced laparoscopic surgery with speed, dexterity, and
tissue-handling capabilities comparable to standard laparoscopic instruments working through trocars. The robotic platform
includes a dexterous in vivo robot and a remote surgeon interface console. For this study, a standard laparoscope was mounted
to the robot to provide vision and lighting capabilities. In addition, multiple robots could be inserted through a single
incision rather than the traditional use of four or five different ports. These additional robots could provide capabilities
such as tissue retraction and supplementary visualization or lighting. The efficacy of this robot has been demonstrated in
a nonsurvival cholecystectomy in a porcine model. The procedure was performed through a single large transabdominal incision,
with supplementary retraction being provided by standard laparoscopic tools. This study demonstrates the feasibility of using
a dexterous robot platform for performing single-incision, advanced laparoscopic surgery. |
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