IREP robot - Insertable robotic effectors in single-port surgery

This movie shows the single-port-access surgical robot IREP. This multimedia extension accompanies the IEEE ICRA 2010 paper describing design considerations for suturing. The work was carried out by Jienan Ding, Kai Xu, Roger Goldman, and Nabil Simaan at ARMA lab in collaboration with Peter Allen and Dennis Fowler from Columbia University.