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A single port laparoscopic surgery robot with high force transmission and a large workspace

A single port laparoscopic surgery robot with high force transmission and a large workspace
Cheon, B[Cheon, Byungsik]Gezgin, E[Gezgin, Erkin]Ji, DK[Ji, Dae Keun]Tomikawa, M[Tomikawa, Morimasa]Hashizume, M[Hashizume, Makoto]Kim, HJ[Kim, Hong-Jin]Hong, J[Hong, Jaesung]
DGIST Authors
Cheon, B[Cheon, Byungsik]; Gezgin, E[Gezgin, Erkin]; Ji, DK[Ji, Dae Keun]; Hong, J[Hong, Jaesung]
Issue Date
Surgical Endoscopy and Other Interventional Techniques, 28(9), 2719-2729
Article Type
AnimalAnimalsComparative StudyDevicesEquipment DesignForceHumanHumansLaparoscopic SurgeryLaparoscopyPlate SpringPlate SpringsPriority JournalProceduresRobotic SurgeryRobotic Surgical ProcedureRobotic Surgical ProceduresRoboticsSingle Port Laparoscopic SurgerySingle Port Laparoscopic Surgery RobotWork Environment
Introduction: This study presents the design of a novel single port laparoscopic surgery robot that is actuated by plate-spring-driven mechanisms with high force transmission and a larger workspace. Many ongoing studies aim to develop robotic single port laparoscopic surgery platforms due to the potential advantages in terms of a short recovery period and fewer postoperative scars. Most of these investigations of single port access have focused on resolving the inconvenient maneuverability of manual single port laparoscopic surgery. However, drive mechanism structures are another requirement. Materials and Methods: Most of the existing robotic platforms cannot transmit sufficient force, as many of them use wire-driven mechanisms, which are prone to mechanical deformation that also negatively affects the accuracy of the end effector. In addition, even the best-known laparoscopic surgical robot system has instruments with a limited workspace for single port laparoscopic surgery. Therefore, the purpose of this study was to propose a novel robotic single port laparoscopic surgery platform that uses plate springs to transmit higher forces during tissue handling. Results and Conclusion: Compared to wire- or link-driven mechanisms, the plate-spring mechanism provided surpassing force transmission, with >14 N force transmission achieved, which enables most laparoscopic surgery with single port access. In addition, the high degree of freedom structure of the proposed design permitted an expanded workspace, which might be the most competitive characteristic among the single port systems reported to date. © 2014 Springer Science+Business Media.
Related Researcher
  • Author Hong, Jaesung Surgical Robotics Lab
  • Research Interests Surgical Navigation; Surgical Robot; Medical Imaging; 영상유도수술로봇; 수술네비게이션
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Department of Robotics EngineeringSurgical Robotics Lab1. Journal Articles

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