Journal Article


Technical and functional validation of a teleoperated multirobots platform for minimally invasive surgery

Abstract

Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons’ dexterity and skills. The research on new Multi-Robots Surgery (MRS) platform is cardinal to the development of a new SARAS surgical robotic platform, which aims at carrying out autonomously the assistants tasks during RMIS procedures. In this work, we will present the SARAS MRS platform validation protocol, framed in order to assess: (i) its technical performances in purely dexterity exercises, and (ii) its functional performances. The results obtained show a prototype able to put the users in the condition of accomplishing the tasks requested (both dexterity- and surgical-related), even with reasonably lower performances respect to the industrial standard. The main aspects on which further improvements are needed result to be the stability of the end effectors, the depth perception and the vision systems, to be enriched with dedicated virtual fixtures. The SARAS’ aim is to reduce the main surgeon’s workload through the automation of assistive tasks which would benefit both surgeons and patients by facilitating the surgery and reducing the operation time.

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Authors

Leporini, Alice
Oleari, Elettra
Landolfo, Carmela
Sanna, Alberto
Larcher, Alessandro
Gandaglia, Giorgio
Fossati, Nicola
Muttin, Fabio
Capitanio, Umberto
Montorsi, Francesco
Salonia, Andrea
Minelli, Marco
Ferraguti, Federica
Secchi, Cristian
Farsoni, Saverio
Sozzi, Alessio
Bonfè, Marcello
Sayols, Narcis
Hernansanz, Albert
Casals, Alicia
Hertle, Sabine
Cuzzolin, Fabio
Dennison, Andrew
Melzer, Andreas
Kronreif, Gernot
Siracusano, Salvatore
Falezza, Fabio
Setti, Francesco
Muradore, Riccardo

Oxford Brookes departments

School of Engineering, Computing and Mathematics

Dates

Year of publication: 2020
Date of RADAR deposit: 2021-01-12


Creative Commons License This work is licensed under a Creative Commons Attribution 4.0 International License


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