title: Lessons learned using the insertable robotic effector platform (IREP) for single port access surgery.
abstract: This paper presents the preliminary evaluation of a robotic system for single port access surgery. This system may be deployed through a 15-mm incision. It deploys two surgical arms and a third arm manipulating a stereo-vision module that tracks instrument location. The paper presents the design of the robot along with experiments demonstrating the capabilities of this robot. The evaluation includes use of tasks from fundamentals of laparoscopic surgery, evaluation of telemanipulation accuracy, knot tying, and vision tracking of tools.
authors.affiliation: A.R.M.A. Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA. nabil.simaan@vanderbilt.edu.|Vanderbilt Initiative in Surgery and Engineering (VISE), Nashville, TN, USA. nabil.simaan@vanderbilt.edu.
authors.forename: N
authors.initials: N
authors.lastname: Simaan
authors.affiliation: A.R.M.A. Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA.|Vanderbilt Initiative in Surgery and Engineering (VISE), Nashville, TN, USA.
authors.forename: A
authors.initials: A
authors.lastname: Bajo
authors.affiliation: Department of Computer Science, Columbia University, New York City, NY, USA.
authors.forename: A
authors.initials: A
authors.lastname: Reiter
authors.affiliation: A.R.M.A. Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA.|Vanderbilt Initiative in Surgery and Engineering (VISE), Nashville, TN, USA.
authors.forename: Long
authors.initials: L
authors.lastname: Wang
authors.affiliation: Department of Computer Science, Columbia University, New York City, NY, USA.
authors.forename: P
authors.initials: P
authors.lastname: Allen
authors.affiliation: Department of Surgery, Columbia University, New York City, NY, USA.
authors.forename: D
authors.initials: D
authors.lastname: Fowler
keywords: Minimally invasive surgery; Natural orifice surgery; Single port access surgery