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Robot Kinematic Design Studies for Natural Orifice Surgery

[+] Author Affiliations
Chi Min Seow, Wei Jian Chin

University of Nebraska-Lincoln, Lincoln, NE

Carl A. Nelson

University of Nebraska-Lincoln, Lincoln; University of Nebraska Medical Center, Omaha, NE

Paper No. DETC2011-47961, pp. 605-613; 9 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper presents kinematic aspects of a multifunctional robotic manipulator for use in natural orifice surgery. A literature review of some existing surgical robots is presented. The robot folding configurations for insertion/removal are described. The kinematics and workspace of the robotic manipulator and their application in a space-constrained environment are explored as well. The main goal is to find out the best way to fully utilize limited degrees of freedom in the robot arms local to the surgical site as well as additional motions provided by the hyper-redundant, underactuated articulated drive mechanism, in order to provide the dexterity and workspace required for typical surgical interventions.

Copyright © 2011 by ASME
Topics: Robots , Design , Surgery



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