Tonatiuh II: Assisting manipulator for laparoscopic surgery

Abstract

In this article we show the design of the Tonatiuh II robotic manipulator. This robotic assistant has an original electromechanical configuration and respects the laparoscope center of insertion as an invariant point for navigation in the work space. The manipulator went through several stages before reaching its final version. Surgical trials have shown the robot to be useful in the operating room and as a training assistant in specialty microsurgery.

Multi-view vision system for laparoscopy surgery

“…A possible approach to improve the quality of surgical procedures, consists in reducing their invasiveness and enhance the effectiveness of the surgeon [4]. For instance, voice activated robotic laparoscope manipulators increase the accuracy of the vision system and reduce personnel count [11], [21]. For successful surgical gestures, the surgeon must have access to reliable and rich information acquired from the vision system.…”

Kinematic fundamentals of a biomechatronic laparoscopy system

“…Technological advances in assistance with holding and handling the laparoscope during surgery focus on solo surgery, in which the surgeon is provided with the technological means to perform the surgery by himself. At present, in addition to 'passive' electromechanical systems, such as Tiska (1), Endofreeze (2) and Passist (3), there are various 'active' robotic positioning systems, such as Aesop (4), Endoassist (5), FIPS (6) and Tonatiuh (7,8), with which it is possible to perform solo laparoscopic surgery. The work space of all these systems is an inverted cone.…”