Technical and functional validation of a teleoperated multirobots platform for minimally invasive surgery
Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons’ dexterity and skills. The research on new Multi-Robots Surgery (MRS) platform is cardinal to the dev...
| Autores: | , , , , , , , , , , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2020 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/346422 |
| Acceso en línea: | https://hdl.handle.net/2117/346422 https://dx.doi.org/10.1109/TMRB.2020.2990286 |
| Access Level: | acceso abierto |
| Palabra clave: | Robotics in medicine Surgical robotics Multi-Robots surgery RMIS Validation protocol Tele-operated surgical robotic system robotic end effector task metrics Functional evaluation Surgical-related tasks Robòtica en medicina Àrees temàtiques de la UPC::Enginyeria biomèdica::Robòtica mèdica |
| Sumario: | Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons’ dexterity and skills. The research on new Multi-Robots Surgery (MRS) platform is cardinal to the development of a new SARAS surgical robotic platform, which aims at carrying out autonomously the assistants tasks during RMIS procedures. In this work, we will present the SARAS MRS platform validation protocol, framed in order to assess: (i) its technical performances in purely dexterity exercises, and (ii) its functional performances. The results obtained show a prototype able to put the users in the condition of accomplishing the tasks requested (both dexterity- and surgical-related), even with reasonably lower performances respect to the industrial standard. The main aspects on which further improvements are needed result to be the stability of the end effectors, the depth perception and the vision systems, to be enriched with dedicated virtual fixtures. The SARAS’ aim is to reduce the main surgeon’s workload through the automation of assistive tasks which would benefit both surgeons and patients by facilitating the surgery and reducing the operation time. |
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