Deployable, Variable Stiffness, Cable Driven Robot for Minimally Invasive Surgery

Dual Space Control of a Deployable Cable Driven Robot: Wave Based Approach

Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...

A New Robot for Minimally Invasive Surgery

Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can be reached with long instruments only. To overcome the drawbacks of manual MIS minimally invasive robotic surgery (MIRS) plays an important role. This paper takes a close look at the requirements on a MIRS system and describes the new DLR robot for MIS. This includes a discus...

Haptics for Robot-Assisted Minimally Invasive Surgery

For centuries, open surgery was the standard for performing an operation on a patient. In cardiac surgery, for example, a sternotomy is performed in which a surgeon saws open the patient's sternum to access the heart and create an operable space. This technique is traumatic for the patient and results in large scars and lengthy, expensive recovery time. In the last several decades, minimally in...

Robot-assisted Minimally Invasive Surgery (ramis)

The most widely used da Vinci a prototype robot, which was a master-slave manipulator with three arms, one for the camera and two for operating the instruments used in various fields such as urology, general surgery, gynecology, cardio-thoracic, pediatric and ENT surgery came in to existence in 1997. This has proved to be a breakthrough technology and stood the test of time since its origin. Th...

Tactile Feedback for Robot Assisted Minimally Invasive Surgery: an Overview