About this Abstract |
Meeting |
2022 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2022)
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Symposium
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2022 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2022)
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Presentation Title |
Shared Teleoperation Architecture for Endoscopic Additive Manufacturing |
Author(s) |
Rodrigo Enriquez Gutierrez, David Hoelzle, Andrej Simeunovic, Ali Asghari Adib |
On-Site Speaker (Planned) |
Rodrigo Enriquez Gutierrez |
Abstract Scope |
In this paper we explain the framework for a robot architecture for real-time shared teleoperation intended to be used for in-situ and in-vivo additive manufacturing of tissue engineering constructs and show its performance under laboratory conditions. The quasi-static environment inside the human body presents a challenge for 3D printing tissue engineering constructs endoscopically. The shared architecture allows surgeons to introduce real-time modifications to the trajectories for a small biological mesh, without the need to generate a new trajectory or stop the current process. Offline trajectory generation and bilateral teleoperation of robotic manipulators each present different strengths and weaknesses. This approach aims to balance both strategies while at the same time being more palatable to the medical community that has valid concerns about autonomous surgical procedures. This architecture is demonstrated on the EndoAM system, a replica of the current professional robotic surgery platform da Vinci, manufactured by Intuitive Surgical. |
Proceedings Inclusion? |
Definite: Post-meeting proceedings |