Highly Articulated Robotic Probe for Minimally Invasive Surgery

Amir Degani, Howie Choset, Alon Wolf, and Marco A. Zenati
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May, 2006, pp. 4167-4172.


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Abstract
We have developed a novel highly articulated robotic probe (HARP) that can thread through tightly packed volumes without disturbing the surrounding tissues and organs. We use cardiac surgery as the focal application of this work. As such, we have designed the HARP to enter the pericardial cavity through a subxiphoid port. The surgeon can effectively reach remote intrapericardial locations on the epicardium and deliver therapeutic interventions under direct control. Reducing the overall cross-sectional diameter of the mechanism was the main challenge in the design of this device. Our device differs from others in that we use conventional actuation and still have good maneuverability. We have performed simple proof-of-concept clinical experiments to give preliminary validation of the ideas presented here.

Keywords
Snake Robot, Medical Robot, Minimally Invasive Surgery, Cardiac Surgery

Notes

Text Reference
Amir Degani, Howie Choset, Alon Wolf, and Marco A. Zenati, "Highly Articulated Robotic Probe for Minimally Invasive Surgery," Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May, 2006, pp. 4167-4172.

BibTeX Reference
@inproceedings{Degani_2006_5445,
   author = "Amir Degani and Howie Choset and Alon Wolf and Marco A Zenati",
   title = "Highly Articulated Robotic Probe for Minimally Invasive Surgery",
   booktitle = "Proceedings of the 2006 IEEE International Conference on Robotics and Automation",
   pages = "4167-4172",
   publisher = "IEEE",
   month = "May",
   year = "2006",
}