title: Multifunction robotic platform for natural orifice surgery.
abstract: A new robotic platform for natural orifice surgery is described. The robot is designed to carry multiple tool tips in a single end-effector arm. Design and experimental validation are presented. Although the design is still being improved, results suggest that the new robotic tool will enable dexterous abdominal surgery with improved force transmission capability.
authors.affiliation: Department of Mechanical Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588-0656, USA. xlzhang@huskers.unl.edu
authors.forename: Xiaoli
authors.initials: X
authors.lastname: Zhang
authors.forename: Wei Jian
authors.initials: WJ
authors.lastname: Chin
authors.forename: Chi Min
authors.initials: CM
authors.lastname: Seow
authors.forename: Akiko
authors.initials: A
authors.lastname: Nakamura
authors.forename: Michael
authors.initials: M
authors.lastname: Head
authors.forename: Shane
authors.initials: S
authors.lastname: Farritor
authors.forename: Dmitry
authors.initials: D
authors.lastname: Oleynikov
authors.forename: Carl
authors.initials: C
authors.lastname: Nelson
mesh_terms: D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D055617:Micro-Electrical-Mechanical Systems / Q000295:instrumentation*; D057605:Natural Orifice Endoscopic Surgery / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000379:methods*