Design and Evaluation of the infant Cardiac Robotic Surgical System (iCROSS)
- Resource Type
- Conference
- Authors
- Chen, Po-Chih; Hsieh, Pei-An; Huang, Jing-Yuan; Huang, Shu-Chien; Chen, Cheng-Wei
- Source
- 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2022 IEEE/RSJ International Conference on. :413-418 Oct, 2022
- Subject
- Bioengineering
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Patents
Medical robotics
Instruments
Surgery
Aerospace electronics
Task analysis
Intelligent robots
- Language
- ISSN
- 2153-0866
In this study, the infant Cardiac Robotic Surgical System (iCROSS) is developed to assist a surgeon in performing the patent ductus arteriosus (PDA) closure and other infant cardiac surgeries. The iCROSS is a dual-arm robot allowing two surgical instruments to collaborate in a narrow space while keeping a sufficiently large workspace. Compared with the existing surgical robotic systems, the iCROSS meets the specific requirements of infant cardiac surgeries. Its feasibility has been validated through several teleoperated tasks performed in the experiment. In particular, the iCROSS is able to perform surgical ligation successfully within one minute.