Publications (2)0.69 Total impact
Article: Surgery with cooperative robots[Show abstract] [Hide abstract]
ABSTRACT: Advances in endoscopic techniques for abdominal procedures continue to reduce the invasiveness of surgery. Gaining access to the peritoneal cavity through small incisions prompted the first significant shift in general surgery. The complete elimination of external incisions through natural orifice access is potentially the next step in reducing patient trauma. While minimally invasive techniques offer significant patient advantages, the procedures are surgically challenging. Robotic surgical systems are being developed that address the visualization and manipulation limitations, but many of these systems remain constrained by the entry incisions. Alternatively, miniature in vivo robots are being developed that are completely inserted into the peritoneal cavity for laparoscopic and natural orifice procedures. These robots can provide vision and task assistance without the constraints of the entry incision, and can reduce the number of incisions required for laparoscopic procedures. In this study, a series of minimally invasive animal-model surgeries were performed using multiple miniature in vivo robots in cooperation with existing laparoscopy and endoscopy tools as well as the da Vinci Surgical System. These procedures demonstrate that miniature in vivo robots can address the visualization constraints of minimally invasive surgery by providing video feedback and task assistance from arbitrary orientations within the peritoneal cavity.
Conference Paper: In Vivo Wheeled Robots for Tele-Surgery During Long-Term Space Flight[Show abstract] [Hide abstract]
ABSTRACT: Long-term human space exploration will require contingencies for emergency medical procedures including some capability to perform surgery. The ability to perform Minimally Invasive Surgery (MIS), or surgery performed with long tools inserted through small incisions, would be an important capability. The use of small incisions reduces surgical risk but also eliminates the surgeon's ability to view and touch the surgical environment directly. Robotic surgery, or robotic tele-surgery, may be a way to provide emergency surgical care in extremely forward environments such as space flight. Current surgical robots are large and require extensive support personnel. Therefore, their implementation has been limited in forward environments and they would be difficult to implement in space flight. This paper presents a theoretical and experimental analysis of miniature, wheeled, in vivo robots to support surgery during long-term space flight. The objective is to develop a wireless mobile imaging robot that can be placed inside the abdominal cavity during surgery. Such robots will allow the surgeon, or a remote surgeon, to view the surgical environment from multiple angles. Simulation and experimental analyses have led to a wheel design that can attain good mobility performance in in vivo conditions. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
University of Nebraska at Lincoln
Lincoln, Nebraska, United States
- • Department of Engineering Mechanics
- • Department of Mechanical and Materials Engineering