Real-time control architecture of a novel Single-Port lapaRoscopy bimaNual roboT (SPRINT)

Toward Intraoperative Breast Endomicroscopy With a Novel Surface-Scanning Device

“…working channel) with a small outer diameter. Our design is different from the other rotational joints mechanism using bevel gears such as [29,30]. In particular, because of size and shape restrictions of bevel gears, the mechanisms in [29,30] make it difficult to achieve a small outer diameter with a large channel.…”

“…Another possible drive mechanism is to use rotational joints with bevel gears such as in [29,30]. The gear driven mechanism makes it easy to achieve multi-DOFs together with miniaturisation.…”

A new single-port robotic system based on a parallel kinematic structure

“…In common, all the mentioned systems use passive intracorporeal mechanisms in combination with extracorporeal motors. In contrast, SPRINT uses serial kinematics with active joints, actuated by intracorporeal motors with gear heads [6]. Within this paper, a new single port robotic system developed for transanal rectum resection is presented.…”

μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design

“…The current state of the art, the Da Vinci Surgical System [1], carries a gripper attached to a three Degree-of-Freedom (DOF) wrist. Other designs include continuum surgical robots such as [2] and [3]; despite their many DOF, the surgeon will have to be thoroughly trained to operate these systems. Studies have shown that surgeons are not satisfied with the level of dexterity and ergonomics of the current instruments available for traditional laparoscopy or RA-MIS [4], [5].…”