I-SNAKE

o WHAT IS I-SNAKE? o COMPONENTS OF I-SNAKE o WHAT IS THE PURPOSE OF NEW CARDIO ARM: o HOW DOES I-SNAKE WORKS? o DEVICE DESIGN o TESTING PROCESS o WORKING AREAS o MERITS o APPLICATIONS o ROBOTIC SURGERY BENEFITS o CONCLUSION AGENDA:

WHAT IS “I-SNAKE WHAT IS “I-SNAKE ”? o Cardio Arm o Image sensing navigator and kinematically enhanced snake robot o Surgeon’s eyes and hands

COMPONENTS OF I-SNAKE: o Multiple sensing mechanisms o Special motors o Imaging tools at its “HEAD”

What is the purpose of new cardio arm? o To facilitate coronary bypass operations o Allows physicians to have eyes inside the body o A field where open –heart surgeries with a small incision o A field where open –heart surgeries with a small incision.

The robot wraps itself around the heart until it finds what it’s sent inside the body

How does I-snake works? Only contact the surgeon makes with the patient’s body is to make an incision. Only contact the surgeon makes with the patient’s body is to make an incision. Then robot enters the system. Then robot enters the system. Once inside,it is controlled by a joy stick Once inside,it is controlled by a joy stick And gives 103 degrees of freedom which wrap around the organs. Then monitored by a computer. Then monitored by a computer.

Device design: Main concept of design : Stack two degree –of-freedom joints on top of each other The central element: Tele-operated probe,which assumes shape of its surroundings It is programmed to “remember “where it was in space and time

A working channel inside the body of snake is to pass tools to deep regions. The smallest version is 300 mm long and has diameter 12mm. The smallest version is 300 mm long and has diameter 12mm. It is composed of 50 rigid cylindrical links serially connected by three cables

The custom-designed software translates the master manipulator’s input into movement of cardio arm. visualization is provided visualization is provided By onboard optical 15-k bundle fiber scope with integrated light guide, CCD camera

TESTING PROCESS: A small subxiphoid skin incision (length, 20 mm) and pericardiotomy (diameter, 15 mm) was created under direct visualization A small subxiphoid skin incision (length, 20 mm) and pericardiotomy (diameter, 15 mm) was created under direct visualization The distal apparatus of Cardio Arm was introduced into the pericardial space under the surgeon’s control The distal apparatus of Cardio Arm was introduced into the pericardial space under the surgeon’s control

The three minute cameras present at the tip of the head provide a complete vision of the organs inside. The three minute cameras present at the tip of the head provide a complete vision of the organs inside. The mouth of the robot is provided with clips which help in surgical stitches. The mouth of the robot is provided with clips which help in surgical stitches. The joystick movement is similar as that of a video game The joystick movement is similar as that of a video game

The forward movement of the joystick makes the infrared sensor present in the head of the I-snake to move in forward direction and backward movement of joystick moves the device in reverse direction leading to the initial incision point The forward movement of the joystick makes the infrared sensor present in the head of the I-snake to move in forward direction and backward movement of joystick moves the device in reverse direction leading to the initial incision point

The forward movement of the joystick makes the infrared sensor present in the head of the I-snake to move in forward direction and The backward movement of joystick moves the device in reverse direction leading to the initial incision point. Forward and backward movement:

WORKING AREAS: To treat the hearts of pigs, and clinical trials on human patients are expected to start this year. A modification of the robotic arm can make the device applicable in abdominal surgery, as well as in the mouth

A critical cardio surgery with a single cut. A critical cardio surgery with a single cut. It will incorporate state of the art imaging and intuitive manipulation technologies It will incorporate state of the art imaging and intuitive manipulation technologies The robot’s coiled shape makes it the most flexible endoscope ever that follows the track led by robot’s head. The robot’s coiled shape makes it the most flexible endoscope ever that follows the track led by robot’s head.

Applications: The clinical investigation of the alimentary tract, The clinical investigation of the alimentary tract, Complex, multi-vessel coronary bypass surgery Complex, multi-vessel coronary bypass surgery The cost benefits  earlier, cheaper and less invasive treatment, faster recovery The cost benefits  earlier, cheaper and less invasive treatment, faster recovery

ROBOTIC SURGERY BENEFITS Smaller incisions Smaller incisions Less pain / faster recovery Less pain / faster recovery Shorter hospital stay Shorter hospital stay Fewer compilations Fewer compilations Faster return to activity Faster return to activity

CONCLUSION: This technology enables a surgeon to perform a critical cardio surgery with a single cut. This technology enables a surgeon to perform a critical cardio surgery with a single cut. There is no doubt that in future we will see more and more instances of tiny repairing units entering our body There is no doubt that in future we will see more and more instances of tiny repairing units entering our body