A family of co-robotic surgical set-ups

The paper describes co-robotic devices, aiming at accomplishing surgical operations by remote overseeing and manipulation. The concept design of a modular layout is presented, assuring body penetration by curved and twisted paths, with minimal impact. The fixture develops as an articulated snake-like forearm, carrying a wrist and the pertinent effectors; scalpels, scissors, sewing rigs, cameras, etc. The fixture is a good example of a micro electro mechanical system, with force-actuation and shape-control being intrinsic properties. Different options are studied and the related basic operational characteristics are summarised and compared. The jointed forearm might include one to six blocks. Specifically, task-oriented end-effectors are considered, e.g. a self-operating sewing rig, able to operate with a single thread. The robot co-operation will drastically modify surgery practice, giving freedom from anthropocentric bounds; the paper introduces such opportunities, with comments on typical control strategies and hints on actual performance, inferred by testing on virtual reality and digital mock-ups.