Fine orientation control of an insertable robotic camera system for single incision laparoscopic surgery.
作者： Reza Yazdanpanah Abdolmalaki , Xiaolong Liu , Gregory J. Mancini , Jindong Tan
DOI: 10.1002/RCS.1957
关键词:
摘要: BACKGROUND Insertable laparoscopic camera systems were developed to improve the minimally invasive surgeries. Robotic degrees of freedom for an insertable are required adjust camera's orientation and position inside abdominal cavity. METHODS This paper demonstrates magnetic actuated robotic system with two-degree-of-freedom (2-DoF) control single incision surgery. The design consists external unit a fully capsule. features unified mechanism anchoring, navigating, rotating capsule by externally generated rotational field from unit. motor-free is encapsulated in one-piece housing two ring-shaped tail-end magnets one cylindrical central magnet. that positioned both permanent electromagnetic coils generate RESULTS experimental investigations indicated can achieve less than 1° accuracies average errors 0.594° 0.524° tilt motion pan motion, respectively. CONCLUSION designed provides fine which guarantees proper vision surgeon during
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