Design and evaluation of a slave manipulator with roll-pitch-roll wrist and automatic tool loading mechanism in telerobotic surgery

Cited 3 time in webofscience Cited 0 time in scopus
  • Hit : 539
  • Download : 0
Background As there is a shortage of scrub nurses in many hospitals, automatic surgical tool exchanging mechanism without human labour has been studied. Minimally invasive robotic surgeries (MIRS) also require scrub nurses. A surgical tool loading mechanism without a scrub nurse's assistance for MIRS is proposed. Many researchers have developed minimally invasive surgical instruments with a wrist joint that can be movable inside the abdomen. However, implementation of a distal rolling joint on a gripper is rare. Methods To implement surgical tool exchanging without a scrub nurse's assistance, a slave manipulator and a tool loader were developed to load and unload a surgical tool unit. A surgical tool unit with a roll-pitch-roll wrist was developed. Several experiments were performed to validate the effectiveness of the slave manipulator and the surgical tool unit. Results The slave manipulator and the tool loader were able to successfully unload and load the surgical tool unit without human assistance. The total duration of unloading and loading the surgical tool unit was 97 s. Motion tracking experiments of the distal rolling joint were performed. The maximum positioning error of the step input response was 2 degrees. Conclusions The advantage of the proposed slave manipulator and tool loader is that other robotic systems or human labour are not needed for surgical tool loading. The feasibility of the distal rolling joint in MIS is verified. Copyright (C) 2012 John Wiley & Sons, Ltd.
Publisher
WILEY-BLACKWELL
Issue Date
2012-12
Language
English
Article Type
Article
Keywords

MINIMALLY INVASIVE SURGERY; SCRUB NURSE ROBOT; SYSTEM; MOTION

Citation

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, v.8, no.4, pp.421 - 435

ISSN
1478-5951
DOI
10.1002/rcs.1458
URI
http://hdl.handle.net/10203/102984
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 3 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0