Image Guided In-Vivo Tooling Platform for Minimal Access Surgery
Our project goals are to design insertable in-vivo robotic platform for single port surgery (less invasive surgery). This robotic platform is capable of bi-manual dexterous manipulation while providing stereo vision guidance. The system is also being designed for supporting several modalities of energy delivery, and sensory data collection. The design allows this system to enter the abdominal cavity through a 15 mm trocar. When deployed, the system provides two highly dexterous arms for surgical intervention. A stereo camera module is used to automatically track instruments and for control feedback to compensate for deflection inaccuracies of the flexible continuum robot arms.