5 accepted papers
We introduce a method to optimize on a patient-specific basis the kinematic design of the Continuum Reconfigurable Incisionless Surgical Parallel (CRISP) robot, a needle-diameter medical robot based on a parallel structure that is capable of performing minimally invasive procedures. Our objective is…
This paper examines shape sensing for a new class of surgical robot that consists of parallel flexible structures that can be reconfigured inside the human body. Known as CRISP robots, these devices provide access to the human body through needle-sized entry points, yet can be configured into truss-
Continuum Reconfigurable Incisionless Surgical Parallel (CRISP) robots consist of multiple needle-diameter flexible instruments that are assembled into a parallel structure inside the human body. With a camera placed at the tip of one of the instruments, the CRISP robot can be used to inspect anatom…
The da Vinci Surgical System offers a natural user interface and wrist articulation, which enable suturing and other complex surgical actions in confined spaces. However, both the one-time cost of the system and the recurring cost of the limited-use instruments remain high. This has motivated the de
We propose a new class of robotic device for minimally-invasive surgery that lies at the intersection of continuum, parallel, and reconfigurable robotics. This Continuum Reconfigurable Incisionless Surgical Parallel (CRISP) paradigm involves the use of multiple needle-diameter devices inserted throu…