Hydraulic robotic surgical tool changing manipulator

Abolfazl Pourghodrat, Carl A Nelson, Dmitry Oleynikov

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform "scarless" abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.

Original languageEnglish (US)
Article number011008
JournalJournal of Medical Devices, Transactions of the ASME
Volume11
Issue number1
DOIs
StatePublished - Mar 1 2017

Fingerprint

Natural Orifice Endoscopic Surgery
Robotics
Manipulators
Hydraulics
Orifices
Surgery
Multitasking
Electric motors
Hemorrhage
Technology
Costs and Cost Analysis
Testing
Costs

ASJC Scopus subject areas

  • Medicine (miscellaneous)
  • Biomedical Engineering

Cite this

Hydraulic robotic surgical tool changing manipulator. / Pourghodrat, Abolfazl; Nelson, Carl A; Oleynikov, Dmitry.

In: Journal of Medical Devices, Transactions of the ASME, Vol. 11, No. 1, 011008, 01.03.2017.

Research output: Contribution to journalArticle

@article{725773b5d4bd439f914d7c756cb27771,
title = "Hydraulic robotic surgical tool changing manipulator",
abstract = "Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform {"}scarless{"} abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.",
author = "Abolfazl Pourghodrat and Nelson, {Carl A} and Dmitry Oleynikov",
year = "2017",
month = "3",
day = "1",
doi = "10.1115/1.4035548",
language = "English (US)",
volume = "11",
journal = "Journal of Medical Devices, Transactions of the ASME",
issn = "1932-6181",
publisher = "American Society of Mechanical Engineers(ASME)",
number = "1",

}

TY - JOUR

T1 - Hydraulic robotic surgical tool changing manipulator

AU - Pourghodrat, Abolfazl

AU - Nelson, Carl A

AU - Oleynikov, Dmitry

PY - 2017/3/1

Y1 - 2017/3/1

N2 - Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform "scarless" abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.

AB - Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform "scarless" abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.

UR - http://www.scopus.com/inward/record.url?scp=85010443380&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85010443380&partnerID=8YFLogxK

U2 - 10.1115/1.4035548

DO - 10.1115/1.4035548

M3 - Article

VL - 11

JO - Journal of Medical Devices, Transactions of the ASME

JF - Journal of Medical Devices, Transactions of the ASME

SN - 1932-6181

IS - 1

M1 - 011008

ER -