Li, J. orcid.org/0009-0005-3008-8394, Wang, S. orcid.org/0000-0003-1609-5326, Zhang, Z. orcid.org/0000-0003-0204-3867 et al. (1 more author) (2023) A Robotic System for Transanal Endoscopic Microsurgery: Design, Dexterity Optimization, and Prototyping. IEEE Robotics & Automation Magazine. pp. 2-16. ISSN 1070-9932
Abstract
This article proposes a master–slave operated robotic system that features the novel slave manipulator with a modular distal continuum section to address the shortcomings of traditional transanal endoscopic microsurgery (TEM). The slave manipulator consists of two seven degrees-of-freedom (7-DoF) surgical instruments and a 5-DoF endoscopic arm that are designed with distal continuum structures and unfolded with a Y configuration after inserting through a transanal port to enhance hand–eye coordination and instrument triangulation. The proposed robot is designed for adaptation in narrow and shallow rectal spaces, facilitating intuitive hand–eye coordination and enhanced operational dexterity with reduced obstruction of the field of view.
Metadata
Item Type: | Article |
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Authors/Creators: | |
Copyright, Publisher and Additional Information: | © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Robots, Instruments, Robot kinematics, Bending, Optimization, Endoscopes, Aerospace electronics |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number Royal Society IEC\NSFC\211360 |
Depositing User: | Symplectic Publications |
Date Deposited: | 30 Nov 2023 11:54 |
Last Modified: | 30 Nov 2023 18:23 |
Published Version: | https://ieeexplore.ieee.org/document/10328458 |
Status: | Published online |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/mra.2023.3323849 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:206044 |