Cooperative robotic assistant for laparoscopic surgery: CoBRASurge

Xiaoli Zhang, Amy Lehman, Carl A Nelson, Shane M Farritor, Dmitry Oleynikov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

Abstract

Surgical robotic systems have a great impact on the application of laparoscopic surgeries in the operating room. The advent of externally operated surgical robots has prompted the first significant shift in general laparoscopic surgeries. Miniature in vivo robots that can be completely inserted in to the abdomen are also being studied to reduce patient trauma. Whereas external surgical robots have a constrained workspace but provide good speed and force capabilities; miniature surgical robots have good local workspace characteristics, but are generally slower and not as powerful. Current efforts to address these limitations include cooperatively using multiple surgical robots to increase dexterous manipulation capabilities, fault tolerance, and overall robustness. In this paper, a cooperative surgical robot system composed of an externally actuated, compact tool-positioning surgical robot, CoBRASurge (Compact Bevel-geared Robot for Advanced Surgery), and an in vivo fixed-base, task assistant Dexterous Robot, is presented to perform laparoscopic surgical procedures. The CoBRASurge functions as a gross end-effector positioning robot and the Dexterous Robot performs internal surgical tasks with fine accuracy, effectively increasing the flexibility of the robot system. The surgical procedure successfully demonstrates the feasibility of using CoBRASurge to provide the surgeon with stable and remotely adjustable repositioning of in vivo robots for laparoscopic procedures in the peritoneal cavity.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages5540-5545
Number of pages6
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

Fingerprint

Surgery
Robotics
Robots
Operating rooms
End effectors
Fault tolerance
Robotic surgery

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Zhang, X., Lehman, A., Nelson, C. A., Farritor, S. M., & Oleynikov, D. (2009). Cooperative robotic assistant for laparoscopic surgery: CoBRASurge. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 5540-5545). [5354446] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354446

Cooperative robotic assistant for laparoscopic surgery : CoBRASurge. / Zhang, Xiaoli; Lehman, Amy; Nelson, Carl A; Farritor, Shane M; Oleynikov, Dmitry.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 5540-5545 5354446 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zhang, X, Lehman, A, Nelson, CA, Farritor, SM & Oleynikov, D 2009, Cooperative robotic assistant for laparoscopic surgery: CoBRASurge. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354446, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 5540-5545, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5354446
Zhang X, Lehman A, Nelson CA, Farritor SM, Oleynikov D. Cooperative robotic assistant for laparoscopic surgery: CoBRASurge. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 5540-5545. 5354446. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354446
Zhang, Xiaoli ; Lehman, Amy ; Nelson, Carl A ; Farritor, Shane M ; Oleynikov, Dmitry. / Cooperative robotic assistant for laparoscopic surgery : CoBRASurge. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 5540-5545 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).
@inproceedings{20d921729b3b4b8a8f05eaf7add26e62,
title = "Cooperative robotic assistant for laparoscopic surgery: CoBRASurge",
abstract = "Surgical robotic systems have a great impact on the application of laparoscopic surgeries in the operating room. The advent of externally operated surgical robots has prompted the first significant shift in general laparoscopic surgeries. Miniature in vivo robots that can be completely inserted in to the abdomen are also being studied to reduce patient trauma. Whereas external surgical robots have a constrained workspace but provide good speed and force capabilities; miniature surgical robots have good local workspace characteristics, but are generally slower and not as powerful. Current efforts to address these limitations include cooperatively using multiple surgical robots to increase dexterous manipulation capabilities, fault tolerance, and overall robustness. In this paper, a cooperative surgical robot system composed of an externally actuated, compact tool-positioning surgical robot, CoBRASurge (Compact Bevel-geared Robot for Advanced Surgery), and an in vivo fixed-base, task assistant Dexterous Robot, is presented to perform laparoscopic surgical procedures. The CoBRASurge functions as a gross end-effector positioning robot and the Dexterous Robot performs internal surgical tasks with fine accuracy, effectively increasing the flexibility of the robot system. The surgical procedure successfully demonstrates the feasibility of using CoBRASurge to provide the surgeon with stable and remotely adjustable repositioning of in vivo robots for laparoscopic procedures in the peritoneal cavity.",
author = "Xiaoli Zhang and Amy Lehman and Nelson, {Carl A} and Farritor, {Shane M} and Dmitry Oleynikov",
year = "2009",
month = "12",
day = "11",
doi = "10.1109/IROS.2009.5354446",
language = "English (US)",
isbn = "9781424438044",
series = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",
pages = "5540--5545",
booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

}

TY - GEN

T1 - Cooperative robotic assistant for laparoscopic surgery

T2 - CoBRASurge

AU - Zhang, Xiaoli

AU - Lehman, Amy

AU - Nelson, Carl A

AU - Farritor, Shane M

AU - Oleynikov, Dmitry

PY - 2009/12/11

Y1 - 2009/12/11

N2 - Surgical robotic systems have a great impact on the application of laparoscopic surgeries in the operating room. The advent of externally operated surgical robots has prompted the first significant shift in general laparoscopic surgeries. Miniature in vivo robots that can be completely inserted in to the abdomen are also being studied to reduce patient trauma. Whereas external surgical robots have a constrained workspace but provide good speed and force capabilities; miniature surgical robots have good local workspace characteristics, but are generally slower and not as powerful. Current efforts to address these limitations include cooperatively using multiple surgical robots to increase dexterous manipulation capabilities, fault tolerance, and overall robustness. In this paper, a cooperative surgical robot system composed of an externally actuated, compact tool-positioning surgical robot, CoBRASurge (Compact Bevel-geared Robot for Advanced Surgery), and an in vivo fixed-base, task assistant Dexterous Robot, is presented to perform laparoscopic surgical procedures. The CoBRASurge functions as a gross end-effector positioning robot and the Dexterous Robot performs internal surgical tasks with fine accuracy, effectively increasing the flexibility of the robot system. The surgical procedure successfully demonstrates the feasibility of using CoBRASurge to provide the surgeon with stable and remotely adjustable repositioning of in vivo robots for laparoscopic procedures in the peritoneal cavity.

AB - Surgical robotic systems have a great impact on the application of laparoscopic surgeries in the operating room. The advent of externally operated surgical robots has prompted the first significant shift in general laparoscopic surgeries. Miniature in vivo robots that can be completely inserted in to the abdomen are also being studied to reduce patient trauma. Whereas external surgical robots have a constrained workspace but provide good speed and force capabilities; miniature surgical robots have good local workspace characteristics, but are generally slower and not as powerful. Current efforts to address these limitations include cooperatively using multiple surgical robots to increase dexterous manipulation capabilities, fault tolerance, and overall robustness. In this paper, a cooperative surgical robot system composed of an externally actuated, compact tool-positioning surgical robot, CoBRASurge (Compact Bevel-geared Robot for Advanced Surgery), and an in vivo fixed-base, task assistant Dexterous Robot, is presented to perform laparoscopic surgical procedures. The CoBRASurge functions as a gross end-effector positioning robot and the Dexterous Robot performs internal surgical tasks with fine accuracy, effectively increasing the flexibility of the robot system. The surgical procedure successfully demonstrates the feasibility of using CoBRASurge to provide the surgeon with stable and remotely adjustable repositioning of in vivo robots for laparoscopic procedures in the peritoneal cavity.

UR - http://www.scopus.com/inward/record.url?scp=76249123445&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=76249123445&partnerID=8YFLogxK

U2 - 10.1109/IROS.2009.5354446

DO - 10.1109/IROS.2009.5354446

M3 - Conference contribution

AN - SCOPUS:76249123445

SN - 9781424438044

T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

SP - 5540

EP - 5545

BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

ER -