A self-assembling surgical robot
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Research perspective written by Joao Bimbo
Department of Advanced Robotics
Istituto Italiano di Tecnologia, Genova, Italy
How can I explain the importance of this research to the general public?
Robotic systems have the potential to significantly improve the quality of medical procedures. Compared to traditional surgery they can provide higher precision, smaller incisions, and hence less pain, lower risk of infection and quicker recovery time. Besides, robot-assisted procedures can be performed remotely by a skilled surgeon.
This paper presents a new device for a surgical technique of reduced invasiveness called “natural orifice transluminal endoscopic surgery” (NOTES). The robot resembles a flexible rod, which is introduced into the patient through the mouth cavity. It then modifies its configuration into a rigid triangular shape, and is fixed to the inside of the patient’s body using the magnetic attraction force of an external component. This robotic platform can then be used as a base where different modules, such as a camera or a manipulator, can be stably attached. The mechanism was designed with careful safety considerations in mind, such as the attraction force of the magnets, the actuation scheme (i.e. the conversion of energy into motion) for reconfiguration and the size of the device.
While robotic-assisted surgery is still in its infancy, devices such as the one presented in this work can bring about a step change in the introduction of robotic technology by:
- establishing a standardized platform for researchers and manufacturers of surgical devices to develop their products;
- providing a stable base for surgical tools during interventions, improving the surgeon’s accuracy and visibility; and
- ensuring patients’ safety through the use of inherently safe mechanisms, tested in vivo.
Why is this important for researchers in fields other than robotics?
This work introduces a robot platform that can be inserted through the natural orifices of the body to serve as a docking mechanism for other surgical and diagnosis tools. This work will allow surgeons and researchers in the medical field to use this platform to carry out surgeries in a much less invasive way than traditional or laparoscopic (keyhole) surgery. It works as a stable base to attach other robotic surgery devices such as cauters, cameras, scalpels, etc.
Why is this important for researchers in the same field?
This study presents an anchoring device for Natural Orifice Transluminal Endoscopic Surgery (NOTES). The device consists of a three link mechanism which can be inserted through a patient’s natural orifices and is fixed in place (anchored) by an external magnet. This platform can be used to support surgical devices such as cameras, cauters and retractors, guaranteeing stability during the surgical procedure. During insertion, this mechanism is a compliant cylinder, which then changes its configuration into a rigid triangle for anchoring via shape memory alloy (SMA) actuation. This work presents an approach for the insertion, self-assembly and docking of medical devices which can be followed by other researchers in the field of medical robotics. Medical roboticists can also take advantage of this platform to develop new mechanisms to dock in this structure.
Original research
Anchoring frame for intra-abdominal surgery
Marco Salerno, Selene Tognarelli, Claudio Quaglia, Paolo Dario and Arianna Menciassi
The International Journal of Robotics Research, published online 1 March 2013
Acknowledgements
This work was supported by the European Commission in the framework of the ARAKNES FP7 European Project 224565. The original text was published in The International Journal of Robotics Research.
Originally published at blog.sparrho.com.
