Endo[PA]R: An Open Evaluation System for Minimally Invasive Robotic Surgery
نویسندگان
چکیده
EndoPAR (Endoscopic Partial-Autonomous Robot) is an open experimental platform for robot assisted minimally invasive heart surgery with haptic feedback. The manipulator set-up is composed of two low-payload robots equipped with sensorized surgical instruments and a third robot carrying a stereo camera system. Trocar kinematics, enabling surgical manipulation through small incisions, has been implemented for all robotic arms. In order to ensure operation close to reality, a thorax and heart phantom for surgical training was used in the experiments. Stereo vision is provided via a head-mounted display and force-reflective input devices are employed for user interaction. The system was evaluated by surgeons and it was capable of performing automated knot-tying.
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