This paper presents the development of a new single port surgery robot, Plat spring driven mech-anism equipped robot for single port LAparoscopic Surgery (PLAS), with plate spring driven mechanism. Recently, the number of single port laparoscopic surgery (SILS) that can easily conceal postoperative scars is increasing, and robotic SILS platforms are being developed for solving inconvenient maneuverability of manual SILS. However, the drive mechanism of most robotic SILS platforms existing consists of wire, therefore cannot afford to deliver sufficient force, and the wire is mechanically deformed, thus causing negative effects on movement accuracy. Due to this limitation, a precious operation cannot be conducted by using conventional robotic SILS platforms. Accuracy and force are reduced as the workspace is ex-panding. The purpose of proposed robot is to increase tissue handling force of forceps by using plate spring driven mechanism, and to conduct more stable and precious operations in an expanded area. Eval-uations of PLAS were performed and its feasibility as a new effective robotic SILS platform was proved ⓒ 2013 DGIST
Table Of Contents
I. INTRODUCTION 1 -- 1.1 Introduction to Single Incision Laparoscopic Surgery (SILS) 1 -- 1.2 Previous researches of robotic SILS 5 -- 1.3 Advantages and disadvantages of current SILS robots 7 -- 1.4 Plate spring driven mechanism 10 -- 1.5 Research contents and goals 13 -- II. DESIGN 15 -- 2.1 Ideal robotic SILS platform 15 -- 2.2 New robotic SILS platform 17 -- 2.1.1 Force requirement 18 -- 2.1.2 Considerations on work Space and degree of freedom 19 -- 2.3 Mechanical implementation of joints 23 -- III. DIRECT AND INVERSE POSITION ANALYSIS 36 -- 3.1 Direct Kinematics 40 -- 3.2 Inverse Kinematics 41 -- IV. VELOCITY AND JACOBIAN ANALYSIS 45 -- 4.1 Direct and Inverse Velocity Problem 47 -- 4.2 Singularity Analysis 48 -- V. EXPERIMENTAL METHODS AND RESULTS 49 -- 5.1 Measuring forces and results 49 -- 5.2 Assessment for reliability of movements and its results 57 -- VI. CONCLUSION AND FURTHER WORKS 61
