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

Title
A single port laparoscopic surgery robot with high force transmission and a large workspace
Author(s)
김홍진지대근[지대근]천병식[천병식]홍재성[홍재성]Erkin Gezgin[Erkin Gezgin]Morimasa Tomikawa[Morimasa Tomikawa]Makoto Hashizume[Makoto Hashizume]
Keywords
TRANSLUMINAL ENDOSCOPIC SURGERY; VISION FIELD CONTROL; SURGICAL ROBOT; NEPHRECTOMY; SITE; EXPERIENCE; SYSTEM
Issue Date
201409
Publisher
SPRINGER
Citation
SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES, v.28, no.9, pp.2719 - 2729
Abstract
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. 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. 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.
URI
http://hdl.handle.net/YU.REPOSITORY/30819http://dx.doi.org/10.1007/s00464-014-3534-6
ISSN
0930-2794
Appears in Collections:
의과대학 > 성형외과학교실 > Articles
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