A single port surgical robot system with novel elbow joint mechanism for high force transmission

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Background: Despite its evident clinical benefits, single-incision laparoscopic surgery (SILS) imposes inherent limitations of collision between external arms and inadequate triangulation because multiple instruments are inserted through a single port at the same time. Methods: A robot platform appropriate for SILS was developed wherein an elbowed instrument can be equipped to easily create surgical triangulation without the interference of robot arms. A novel joint mechanism for a surgical instrument actuated by a rigid link was designed for high torque transmission capability. Results: The feasibility and effectiveness of the robot was checked through three kinds of preliminary tests: payload, block transfer, and ex vivo test. Measurements showed that the proposed robot has a payload capability >15 N with 7 mm diameter. Conclusions: The proposed robot is effective and appropriate for SILS, overcoming inadequate triangulation and improving workspace and traction force capability.
Publisher
WILEY-BLACKWELL
Issue Date
2017-03
Language
English
Article Type
Article
Keywords

LAPAROSCOPIC SURGERY; PLATFORM

Citation

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, v.13, no.4

ISSN
1478-5951
DOI
10.1002/rcs.1808
URI
http://hdl.handle.net/10203/237217
Appears in Collection
ME-Journal Papers(저널논문)
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