Insertable Robotic Effector Platform: IREP
Peter Allen, Nabil Simaan* and Dennis Fowler**
Department of Computer Science
Department of Surgery**
Columbia University
Department of Mechanical Engineering*
Vanderbilt University

This work is supported in part by the National Institute of Biomedical Imaging and Bioengineering (grant number 5R21EB007779-03). Here is a brief synopsis of the project.

IREP Design Video

Single Arm prototype video


N Simaan, A Bajo, A Reiter, L Wang, P Allen, D. Fowler, Lessons learned using the insertable robotic effector platform (IREP) for single port access surgery, J. Robotic Surgery, April 2013.

Ding, J.; Goldman, R. E.; Xu, K.; Allen, P. K.; Fowler, D. L.; Simaan, N.; Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery, Mechatronics, IEEE/ASME Transactions on , vol.PP, no.99, pp.1-13, 0

Reiter, A., Bajo, A., Iliopoulos, K., Simaan, N., and Allen, P.K., Learning-Based Configuration Estimation of a Multi-Segment Continuum Robot, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 24-27, 2012, Rome, Italy

Austin Reiter, Roger E. Goldman, Andrea Bajo, Konstantinos Iliopoulos, Nabil Simaan, and Peter K. Allen, A Learning Algorithm for Visual Pose Estimation of Continuum Robots, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep. 26-29, 2011, San Francisco.

Jienan Ding, Kai Xu, Roger Goldman, Peter Allen, Dennis Fowler, Nabil Simaan, Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery, ICRA 2010, Anchorage.

Kai Xu, Roger E. Goldman, Jienan Ding, Peter K. Allen, Dennis L. Fowler and Nabil Simaan, System Design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery , IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009 St. Louis, pp. 5546-5552.