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products » Penelope


The Penelope™ Surgical Instrument Server is the world’s first autonomous, vision-guided robotic surgical assistant.   Penelope allows health care providers and hospitals to perform more surgical cases with the same number of staff.

When the surgeon asks for an instrument, Penelope retrieves it from an instrument tray.  The robot picks up the instrument with a special gripper and hands it to the surgeon.  When finished, the surgeon simply lays the instrument down.  Penelope then uses a vision system to locate the instrument and return it to the instrument tray.

Penelope performed her first clinical operation at 8:30 am on June 16, 2005 at the Allen Pavilion of NewYork-Presbyterian Hospital.  This historic event is the first autonomously assisted surgery.

Penelope assisted in the removal of a benign tumor from the left arm of a patient.  Spencer Amory, chief of surgery at the Allen Pavilion, performed the procedure and gave Penelope voice commands for instruments.  The procedure lasted approximately 32 minutes and Penelope completed 37 instrument maneuvers.  The robot performed all of its assigned functions properly, a key validation of this important new technology and a dramatic demonstration of the potential for automation in the operating room.  See the Press Release for more information.

The Penelope system will help the OR run more efficiently and safely, not only saving hospitals money but improving the quality of care.

The Penelope system combines several components and technologies to be an effective surgical assistant.

  • Robotic Arm: a lightweight arm with 5 degrees of freedom and an electromagnetic gripper moves surgical instruments around. The gripper releases an instrument when the surgeon's hand applies gentle upward pressure.
  • Voice Recognition: Penelope listens for commands and provides voice feedback.
  • Machine Vision: fed by two overhead cameras, the vision system monitors all the surgical instruments on the instrument trays.
  • Cognitive Architecture: sophisticated AI software controls Penelope's high-level behavior, counts instruments, and predicts which instruments are likely to be needed soon, so those instruments can be kept close to the surgeon for quick delivery when requested.


The system is first and foremost designed for safety, for the surgeon as well as the patient.

  • No Patient Contact By The Robot: The instrument platform shields the patient from the robotic arm and the instruments it carries. Since the arm never reaches beyond the perimeter of the platform, the patient can never come in contact with the robot.
  • No Exposed Sharps: The robot only handles safety-shielded sharps. All nonshielded sharps are maintained by the surgeon directly.
  • Better Instrument Counts: Penelope is very good at counting. Miscounts due to human fatigue, shift changes, and simple memory lapses will be a thing of the past with Penelope.
  • Reduced Personnel Exposure: Penelope will reduce the amount of time technicians need to spend in the OR, and thus reduce the risk of accidents or infection.
  • Sterile Draping: Penelope comes with a custom designed set of sterile drapes and a procedure for applying them. Once draped, Penelope will always obey the rules of sterile procedure.