Home Research

Login Form

If you are a member or an alumnus of A.R.M.A. you may register to submit articles and contribute to the website. You registration will be approved shortly.

Image Guided in-vivo Tooling Platform for Minimal Access Surgery
Active personnel:
  • Long Wang (Ph.D student Vanderbilt University)
  • Andrea Bajo (Ph.D. student Vanderbilt University)
  • Austin Reiter (Ph.D. student Columbia University)
Former personnel:
  • Jienan Ding (Post-Doctoral scientist)
  • Kai Xu (Ph.D. student)
  • Roger Goldman (Ph.D. student)
  • Shuaimin Liu (Ph.D. student)


Our project goals are to design insertable in-vivo robotic platform for single port surgery (less invasive surgery). This robotic platform is capable of bi-manual dexterous manipulation while providing stereo vision guidance. The system is also being designed for supporting several modalities of energy delivery, and sensory data collection. Figure 1 shows the current prototype of our system. The design allows this system to enter the abdominal cavity through a 15 mm trocar. When deployed, the system provides two highly dexterous arms for surgical intervention. A stereo camera module is used to automatically track instruments and for control feedback to compensate for deflection inaccuracies of the flexible continuum robot arms.


  1. Bajo, A., Goldman, R. E., Wang, L., Fowler, D. and Simaan, N., "Integration and Preliminary Evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery", 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN USA, pp 3381-3387, 2012. finalist best medical robotics paper
    [Article | Presentation | DOI: 10.1109/ICRA.2012.6224986]
  2. Ding, J., Xu, K., Goldman, R. E., Allen, P., Fowler, D. & Simaan, N, "Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery", in 2010 IEEE International Conference on Robotics and Automation, pp 1053-1058. Anchorage, AK
  3. Xu, K., Goldman, R. E., Ding, J., Allen, P., Fowler, D. & Simaan, N, "System Design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery", in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 5546-5552. St. Louis, USA
Last Updated on Saturday, 22 March 2014 11:35
Copyright © 2018 Advanced Robotics and Mechanism Applications Laboratory, Vanderbilt University. All Rights Reserved.