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The BioRobotics Institute, Scuola Superiore SantAnna, viale R. Piaggio 34, 56025, Pontedera Pisa 56025, Italy





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Abstract Minimally Invasive Surgery MIS is one of the main aims of modern medicine. It enables surgery to be performed with a lower number and severity of incisions. Medical robots have been developed worldwide to offer a robotic alternative to traditional medical procedures. New approaches aimed at a substantial decrease of visible scars have been explored, such as Natural Orifice Transluminal Endoscopic Surgery NOTES. Simple surgical tasks such as the retraction of an organ can be a challenge when performed from narrow access ports. For this reason, there is a continuous need to develop new robotic tools for performing dedicated tasks. This article illustrates the design and testing of a new robotic tool for retraction tasks under vision assistance for NOTES. The retraction robots integrate brushless motors to enable additional degrees of freedom to that provided by magnetic anchoring, thus improving the dexterity of the overall platform. The retraction robot can be easily controlled to reach the target organ and apply a retraction force of up to 1.53 N. Additional degrees of freedom can be used for smooth manipulation and grasping of the organ. View Full-Text

Keywords: miniature robot; minimally invasive surgery; retraction robot; internal motors actuation miniature robot; minimally invasive surgery; retraction robot; internal motors actuation





Autor: Giuseppe Tortora * , Tommaso Ranzani, Iris De Falco, Paolo Dario and Arianna Menciassi

Fuente: http://mdpi.com/



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