Introducing STRAS: a New Flexible Robotic System for Minimally Invasive Surgery

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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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，称为斯特拉斯，专为内泌子和翻剖手术而设计。该系统基于Anubis平台 - 由Karl Storz设计的手动灵活系统，用于转差操作。我们的新机器人是一个模块化机器人系统，兼容医疗环境，允许在手术室内设置。它提供多达10度的自由（DOF），实现内窥镜摄像头的3D定位，两种仪器定位并提供抢购开/关函数。本文首次介绍了Stras的机械，电气和控制设计。系统的初始表征显示，由于复杂的机械相互作用，运动学建模不足以用于笛卡尔控制。然而，首先实验证明了机器人系统可以使用联合控制来电管理，并且机器人系统使单个用户能够与底层的柔性系统执行复杂的任务。

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《IEEE International Conference on Robotics and Automation》|2013年||共8页
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Antonio De Donno; Lucile Zorn; Philippe Zanne; Florent Nageotte; Michel de Mathelin;
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中图分类 TP242-53;
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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

机译：微创手术的全身炎症反应，比较腹腔镜手术和机器人手术的结果。
4. Introducing STRAS: A new flexible robotic system for minimally invasive surgery [C] . De Donno Antonio, Zorn Lucile, Zanne Philippe, IEEE International Conference on Robotics and Automation . 2013

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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Introducing STRAS: a New Flexible Robotic System for Minimally Invasive Surgery

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