Dexterity and functionality enhancement of the SJTU Unfoldable Robotic System

摘要

SPL (Single Port Laparoscopy) received more and more attention due to the potential of generating better surgical outcomes than multi-port laparoscopy. Several robotic systems were constructed to allow surgeons to operate in an intuitive way so as to ease the challenges of using manual SPL tools. The SURS (SJTU Unfoldable Robotic System) is one of the recent developments dedicated for SPL. The SURS can be inserted into abdomen through a φ12mm incision in its folded configuration and can then be unfolded for dual-arm interventions with integrated visual guidance. With the design descriptions, modeling and experimentation reported in a recent manuscript, this paper presents the follow-up investigations to enhance the SURS's capabilities. Bending ranges of the continuum manipulation arms are enlarged to enhance the system's distal dexterity. An additional tool with an electrical cautery spatula was fabricated and assembled into the system to realize tissue resection. With the dexterity and functionality augmented, the SURS could be further tested in animal studies.