10 accepted papers
Current surgical augmented reality (AR) systems typically employ an on-demand display behavior, where the surgeon can toggle the AR on or off using a switch. The need to be able to turn the AR off is in part due to the obstructing nature of AR overlays, potentially hiding important information from
A key component to the success of master-slave surgical systems is the quality of the master interface used to relay the surgeon's instructions to the slave robot. In previous work the authors developed a gaze-assisted intention recognition scheme, allowing the system to dynamically adapt the motion…
The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6
Suturing is an essential requirement for surgical robots. Current designs of needle drivers require significant forces to be applied so that the needle will not flip or slip between the jaws when inserted into the tissue. The required force implies that most designs are based on rigid instruments wi…
This letter introduces a single-port robotic platform for transanal endoscopic microsurgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or full-thickness dissection. This system is intended to replace the conventiona
The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace throu
Traditional robotic surgical systems rely entirely on robotic arms to triangulate articulated instruments inside the human anatomy. This configuration can be ill-suited for working in tight spaces or during single access approaches, where little to no triangulation between the instrument shafts is p…
The performance of a master-slave robotic system depends significantly on the ergonomics and the capability of its master device to correctly interface the user with the slave robot. Master manipulators generating commands in task space represent a commonly adopted solution for controlling a range o…
Eye tracking technology has shown promising results for allowing hands-free control of robotically-mounted cameras and tools. However existing systems present only limited capabilities in allowing the full range of camera motions in a safe, intuitive manner. This paper introduces a framework for the…
The surgical robotics community have developed many different flexible robot designs to address the access problems of minimally invasive surgery. In this paper, we present a hand-held mechatronic tool with a miniaturized distal flexible manipulator incorporating a microscopy probe, camera and a lig…