Soft endoscopic camera system for robotic surgery: a dVRK implementation

Surgical robotics systems are trending towards combining the advantages of Minimally Invasive Surgery (MIS) with the precision and dexterity provided by robotic systems. The goal of the development of robotic tools for surgery is to reduce trauma and improve recovery times for the patients. This however should not compromise surgeon’s ability to work. The daVinci Surgical System is one of the most known surgical robots used. With its articulated arms and end effectors, it provides improved dexterity compared to standard MIS surgical tools. However even with this superior dexterity, safe navigation and maneuverability in the confined spaces typical to MIS remains an open question. Such questions can be tackled with the use of soft robotics technology. Not only do soft robots provide improved maneuverability and thus have a larger work space, but they are also safe due to their inherent softness and compliance. The use of rigid and soft instruments side by side could complement each other and create a synergy where one overcomes the limitations of the other. With this synergy in mind, this paper demonstrates the integration of a soft robotic arm with the standard daVinci rigid arms. Potential advantages of such a merger are also demonstrated.