Robotic Technologies for NOTES, Single Port
Associate Professor, Department of Mechanical Engineering, Columbia University.
Natural Orifice Transluminal Endoscopic Surgery (NOTES) and Single Port Access (SPA) surgery are new surgical paradigms that promise to further reduce or eliminate the number of access incision ports compared to traditional minimally invasive surgery. While these new paradigms are being explored in a handful of academic centers, their progress and widespread use are hampered by many technological challenges that present research opportunities and challenges for the medical robotics and the surgical communities.
This talk will explore some of these challenges and the necessities of their technological solutions.This talk will identify the challenges associated with addressing the needs of (NOTES) and Minimally Invasive Surgery (MIS) in confined spaces. The focus of the talk will be a discussion of design, control, and deployability considerations for these applications. We will specifically discuss our experience on the design of multi-backbone continuum robots for these applications while focusing on modeling frameworks for evaluating the dexterity of design alternatives, control strategies to mitigate backlash, and new methods for force sensing and feedback using joint-level (intrinsic) information and extrinsic information.
The following works are related to the topics to be discussed
Robotic Technologies for NOTES (a) Continuum robots performing rotation about their own backbone as a means for dexterous operation in confined spaces, (b) Continuum robots performing force sensing and stiffness imaging using intrinsic (joint-level) information only, (c) continuum robots used in a recently developed system for single port access surgery.
Relevant Web Links: http://www.columbia.edu/cu/mece/arma/Workshops/ICRA2010/icra2010.shtml
This presentation is part of the ICRA'2010 Workshop: Snakes, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery organized by Pierre Dupont and Mohsen Mahvash