DESIGN, ANALYSIS, AND TESTING OF IN VIVO SURGICAL ROBOTS

摘要

developments have allowed surgical procedures to become less invasive than traditional open procedures. The transition to Minimally Invasive Surgery (MIS) has resulted in decreased recovery times, improved cosmetic results, and reduced costs. For these reasons, there is interest in further reducing the invasiveness of surgical procedures by accessing the abdominal cavity through a single incision, such as with Laparoendoscopic Single-Site (LESS) surgery. Added complexities, such as unintuitive controls and limited dexterity, prevent the widespread adoption of LESS for complex surgical procedures. Multi-functional in vivo surgical robots have been designed to overcome the issues associated with LESS procedures.