Research on Surgical Robots

Reports and Papers:

• H. Kang, Robotic Assisted Suturing in Minimally Invasive Surgery, Ph.D. thesis, Rensselaer Polytechnic Institute, Troy, NY, May 2002. pp.94--104.
• H. Kang and J.T. Wen, ``Design and Implementation of a Robotic Assistant in Minimally Invasive Surgeries,'' IEEE Magazine Engineering in Medicine and Biology Magazine, January, 2000.
• C. Bernard, H. Kang, S.K. Singh, J.T. Wen, ``Robotic System for Collaborative Control in Minimally Invasive Surgery,'' Industrial Robot, 26(6), Nov/Dec, 1999. pp.476--484.
• H. Kang, J.T. Wen, ``Robotic Knot Tying for Minimally Invasive Surgeries,'' International Robotics and Systems (IRoS) Conference, Lausanne, Sept 2002.
• H. Kang, J.T. Wen, ``EndoBot: a Robotic Assistant in Minimally Invasive Surgeries,'' 2001 IEEE Conference on Robotics and Automation, Seoul, Korea, May 2001.

Patent:

U.S. Patent # 6,325,808, ``Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery,'' C.J. Bernard, H. Kang, B.L. Sachs, S.K. Singh, J.T. Wen.

EndoBot:

Experimental Result (video)

square knot video (4 x playback speed)

manual intervention (lost suture tail) video (4 x playback speed)

tension control video

---

Acknowledgment
This work is supported in part by the Center for Automation Technologies under a block grant from the New York State Science and Technology Foundation.

---

Contact Information:

John T. Wen
Office: CII 8213
Voice: (518)-276-8744
Fax: (518)-276-4897
Email: wen@cat.rpi.edu

---