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Jesse Dosher

Senior Engineer

Email

jdosher@apl.washington.edu

Phone

206-685-5435

Department Affiliation

Ocean Engineering

Education

B.S. Electrical Engineering, University of Washington, 1999

M.S. Electrical Engineering, University of Washington, 2001

Publications

2000-present and while at APL-UW

Roboscope: A flexible and bendable surgical robot for single portal Minimally Invasive Surgery

Rosen, J., and 11 others including J. Dosher, "Roboscope: A flexible and bendable surgical robot for single portal Minimally Invasive Surgery," Proc., IEEE International Conference on Robotics and Automation, 29 May - 3 June, Singapore, 2364-2370, doi:10.1109/ICRA.2017.7989274 (IEEE, 2017).

More Info

1 Jul 2017

Minimally Invasive Surgery (MIS) can reduce iatrogenic injury and decrease the possibility of surgical complications. This paper presents a novel flexible and bendable endoscopic device, "Roboscope", which delivers two instruments, two miniature scanning fiber endoscopes, and a suction/irrigation port to the operation site through a single portal. Compared with existing bendable and steerable robotic surgical systems, Roboscope provides two bending degrees of freedom for its outer sheath and two insertion degrees of freedom, while simultaneously delivering two instruments and two endoscopes to the surgical site. Each bending axis and insertion freedom of Roboscope is independently controllable via an external actuation pack. Surgical tools can be changed without retracting the robot arm. This paper presents the design of the Roboscope mechanical system, electrical system, and control and software systems, design requirements and prototyping validation as well as analysis of Roboscope workspece.

Acoustics Air-Sea Interaction & Remote Sensing Center for Environmental & Information Systems Center for Industrial & Medical Ultrasound Electronic & Photonic Systems Ocean Engineering Ocean Physics Polar Science Center
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