Introducing STRAS: A new flexible robotic system for minimally invasive surgery

机译：STRAS简介：用于微创手术的新型灵活机器人系统

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In this paper we present a new robotic system, called STRAS, designed for endoluminal and transluminal surgery. The system is based on the Anubis® platform - a manual flexible system designed by Karl Storz for transluminal operations. Our new robot is a modular robotic system, compatible with the medical environment, allowing an easy setup in the operating room. It provides up to 10 Degrees of Freedom (DoFs), enabling the 3D positioning of an endoscopic camera, positioning of two instruments and offering grasper opening / closing functionalities. The paper presents for the first time the mechanical, electrical and control design of STRAS. An initial characterization of the system shows that, because of complex mechanical interactions, the kinematic modeling is not sufficient for cartesian control. However, first experiments, demonstrate that the robotic system can be telemanipulated using joint control and that the robotic system enables a single user to perform complex tasks with the underlying flexible system.

机译：在本文中，我们介绍了一种新的机器人系统，称为STRAS，专为腔内和腔内手术而设计。该系统基于Anubis ^{®平台，该平台是由Karl Storz设计的用于腔内操作的手动灵活系统。我们的新型机器人是模块化机器人系统，与医疗环境兼容，可在手术室中轻松设置。它提供了多达10个自由度（DoF），可实现内窥镜摄像机的3D定位，两台仪器的定位，并提供抓取器打开/关闭功能。本文首次介绍了STRAS的机械，电气和控制设计。该系统的初始特征表明，由于复杂的机械相互作用，运动学模型不足以进行笛卡尔控制。但是，第一个实验表明，可以使用联合控制对机器人系统进行遥控操作，并且该机器人系统使单个用户可以使用基础的灵活系统执行复杂的任务。}

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《IEEE International Conference on Robotics and Automation》|2013年|1213-1220|共8页
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De Donno Antonio; Zorn Lucile; Zanne Philippe; Nageotte Florent;
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1. A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery [J] . Zheng Li, Jan Feiling, Hongliang Ren, 工程科学（英文版） . 2015,第001期

机译：针对微创机器人手术的新型遥操作柔性机器人
2. A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery [J] . Zheng Li, Jan Feiling, Hongliang Ren, 工程（英文） . 2015,第001期

机译：针对微创机器人手术的新型遥操作柔性机器人
3. THE SYSTEMIC INFLAMMATORY RESPONSE IN MINIMALLY INVASIVE SURGERY COMPARING OUTCOMES BETWEEN LAPAROSCOPIC AND ROBOTIC SURGERY. [J] . Harji D., Rashid U., Vun J., Diseases of the Colon and Rectum . 2016,第5期

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4. Introducing STRAS: a New Flexible Robotic System for Minimally Invasive Surgery [C] . Antonio De Donno, Lucile Zorn, Philippe Zanne, IEEE International Conference on Robotics and Automation . 2013

机译：介绍争吵：一种新的灵活机器人系统，可用于微创手术
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6. Design of a Multitasking Robotic Platform with Flexible Arms and Articulated Head for Minimally Invasive Surgery [O] . Jianzhong Shang, Christopher J. Payne, James Clark, -1

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Introducing STRAS: A new flexible robotic system for minimally invasive surgery

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