A family of co‐robotic surgical set‐ups

摘要

The paper describes co‐robotic devices, aiming at accomplishing surgical operations by remote overseeing and manipulation. The concept design of a modular layout is presented, assuring body penetration by curved and twisted paths, with minimal impact. The fixture develops as an articulated snake‐like forearm, carrying a wrist and the pertinent effectors; scalpels, scissors, sewing rigs, cameras, etc. The fixture is a good example of a micro electro mechanical system, with force‐actuation and shape‐control being intrinsic properties. Different options are studied and the related basic operational characteristics are summarised and compared. The jointed forearm might include one to six blocks. Specifically, task‐oriented end‐effectors are considered, e.g. a self‐operating sewing rig, able to operate with a single thread. The robot co‐operation will drastically modify surgery practice, giving freedom from anthropocentric bounds; the paper introduces such opportunities, with comments on typical control strategies and hints on actual performance, inferred by testing on virtual reality and digital mock‐ups.