Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
CHALLENGES AND OPPORTUNITIES FOR PSEUDO-CONTINUUM ROBOTS IN SINGLE PORT ACCESS, TRANSLUMINAL AND INTRALUMINAL SURGERIES
Submission Author:
Gabriel Klein Lunkes , SC , Brazil
Co-Authors:
Gabriel Klein Lunkes , Henrique Simas
Presenter: Gabriel Klein Lunkes
doi://10.26678/ABCM.COBEM2021.COB2021-1826
Abstract
The surgical paradigm of Minimally Invasive Surgery (MIS) has been one of the main incentives for adopting robotic surgical assistance. Progress over the past three decades has led to a gradual transition from manual laparoscopic surgery with rigid instruments to robot-assisted surgery. In the last decade, the growing demand for new surgical instruments to allow access to human anatomy without skin incision (intraluminal surgery), with a single skin incision Single Port Access (SPA) or Natural Orifice Transluminal Endoscopic Surgeries (NOTES) led researchers to investigate flexible surgical devices inspired by biological forms such as tentacles or “snake-like” devices. The concept of (pseudo) continuous robots allows investigation of confined spaces, the manipulation of objects in complex environments and conformation to curvilinear paths with minimal external contact. The boundary that separates continuous robots from other hyper-redundant "snake-like" manipulators is sometimes obscured by designs of manipulators that use elastic elements together with conventional discrete joints in the same structure. In this way, it is necessary to survey the main restrictions imposed by the environment and by the most widespread solution principles for acting in the fulfillment of MIS tasks. This work emphasizes and details the referred pseudo-continuous robots or hybrid/continuous serial robots. Organizing and categorizing current devices that are most representative in terms of their design and principle and operation under the eyes of the analysis of mechanisms and robots. To this end, singular aspects should be analyzed, such as their drive system, mobility, workspace, type of kinematic chain and other design and structural characteristics. Thus, contributing to the establishment of an important and updated tool for the synthesis of surgical robot mechanisms capable of protecting the internal anatomy and reducing the need for extra incisions. Finally, the identification of project requirements and classified solution principles found will generate a powerful tool for identifying the main open problems in intraluminal and transluminal robotic surgery via SPA and NOTES.
Keywords
Modular Robotics, surgery, transluminal, intraluminal, hyper redundant, surgical robot, minimally invasive surgery, teleoperation, SPA, NOTES, Kinematics
