Abstract
Background: With the increasing presence of surgical robots minimally invasive surgery, there is a growing necessity of a versatile surgical system for deep and narrow workspaces.
Methods: We developed a versatile system for constrained workspaces called SmartArm. It has two industrial-type robotic arms with flexible tools attached to its distal tip, with a total of nine active degrees-of-freedom. The system has a control algorithm based on constrained optimization that allows the safe generation of task constraints and intuitive teleoperation.
Results: The SmartArm system is evaluated in a master-slave experiment in which a medically untrained user operates the robot to suture the dura mater membrane at the skull base of a realistic head phantom. Our results show that the user could accomplish the task proficiently, with speed and accuracy comparable to manual suturing by surgeons.
Conclusions: We demonstrated the integration and validation of the SmartArm.
| Original language | English |
|---|---|
| Article number | e2053 |
| Pages (from-to) | 1-11 |
| Number of pages | 11 |
| Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
| Volume | 16 |
| Issue number | 2 |
| Early online date | 2 Nov 2019 |
| DOIs | |
| Publication status | Published - 1 Apr 2020 |
Keywords
- brain
- kinematics
- mechatronics
- microsurgery
- neurology
- pediatrics
- safety