Portable tool positioning robot for telesurgery

Xiaoli Zhang, Dmitry Oleynikov, Carl A. Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations


A compact, portable robot called CoBRASurge (Compact Bevel-geared Robot for Advanced Surgery) has been developed for tool guidance in minimally invasive surgery (MIS). It uses a spherical mechanism composed of bevel gears to achieve the necessary workspace in four degrees of freedom (DOF). Four DC motors drive the robot, with surgeon-in-the-loop control guided by an ergonomic joystick. The robot workspace has been validated experimentally, and motion trajectory experiments have shown robust and stable control. Use of the robot for camera guidance in porcine models is described. These experiments indicate superior functionality of the robot. Future work will involve integration of higherfunction surgical tools with multiple CoBRASurge modules to create a complete, highly autonomous and portable MIS robot system for telesurgery.

Original languageEnglish (US)
Title of host publicationMedicine Meets Virtual Reality 17 - NextMed
Subtitle of host publicationDesign for/the Well Being
PublisherIOS Press
Number of pages6
ISBN (Print)9781586039646
StatePublished - 2009
Event17th Annual MMVR Conference - NextMed: Design for/the Well Being, MMVR17 2009 - Long Beach, CA, United States
Duration: Jan 19 2009Jan 22 2009

Publication series

NameStudies in Health Technology and Informatics
ISSN (Print)0926-9630
ISSN (Electronic)1879-8365


Conference17th Annual MMVR Conference - NextMed: Design for/the Well Being, MMVR17 2009
Country/TerritoryUnited States
CityLong Beach, CA


  • Minimally invasive surgery
  • Spherical mechanism
  • Surgical robotics
  • Telesurgery

ASJC Scopus subject areas

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management


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