This paper describes the capabilities of a miniature multi-functional in vivo robot designed and developed for Laparoendoscopic Single-Site Surgery (LESS). The paper outlines several competing design criteria including robot size, workspace volume, endpoint speeds, and endpoint forces. In this paper, the robot is evaluated according to these criteria. The workspace is described and the maximum no-load endpoint speeds and maximum attainable endpoint forces are presented. Finally, the robot capabilities are discussed, related to medical applications, and demonstrated in an animal surgery.
- Nanotechnology Institute
Workspace and Force Capabilities of a Miniature Multi-Functional Surgical Robot
Strabala, KW, McCormick, RM, Wortman, TD, Lehman, AC, Farritor, SM, & Oleynikov, D. "Workspace and Force Capabilities of a Miniature Multi-Functional Surgical Robot." Proceedings of the ASME 2010 5th Frontiers in Biomedical Devices Conference. ASME 2010 5th Frontiers in Biomedical Devices Conference and Exhibition. Newport Beach, California, USA. September 20–21, 2010. pp. 47-49. ASME. https://doi.org/10.1115/BioMed2010-32014
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