Page 186 - Control Theory in Biomedical Engineering

Medical robotics 171

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Fig. 15 The i Snake Robot (Berthet-Rayne et al., 2018), used under CC-BY-4.0, https://
upload.wikimedia.org/wikipedia/commons/6/6e/The_i%C2%B2Snake_Robot.png.

design are described in Dı ´az et al. (2017). Commercially available robotics
systems dedicated for these applications can be found in Beasley (2012) and
Peters et al. (2018).
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Fig. 15 shows an endoscopic application using the i Snake robot
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(Berthet-Rayne et al., 2018). The i Snake robot is a prototype of an artic-
ulated endoscopic robot with two small arms equipped with a camera, light,
and a suction/irrigation channel allowing the surgeon to perform surgery
remotely. It can navigate through the mouth and reach deep-seated lesions.
Another example of robotic surgical application is shown in Fig. 16,
which shows images of the neuromate robot and its surgical workflow in
positioning frameless stereotactic biopsies (Yasin et al., 2019).
Another application is shown in Fig. 17 for a robotic single-port surgery
performed using a fourth-generation model of the da Vinci Surgical System,
da Vinci SP, for a benign gynecologic disease at Ewha Womans University
Medical Center, Seoul, Republic of Korea (Shin et al., 2020). The patient
cart of the da Vinci SP surgical system includes an articulating camera and
three robotic instruments able to be positioned simultaneously through a
25-mm SP multichannel single port. As reported in Shin et al. (2020), this
surgical system may replace conventional laparoscopic surgery or robotic
multiport laparoscopy even in complicated and severe adhesion cases. Other
advantages are reported (Shin et al., 2020) compared to the previous versions
of the da Vinci Surgical System, the Si and Xi systems. This new mechanical
system includes various kinds of articulating instruments and is designed to