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Surgical robot for single-incision laparoscopic surgery.

Hyundo Choi, Ho-Seong Kwak, Yo-An Lim

IEEE Transactions on Bio-Medical Engineering

|May 20, 2014

Summary

This study presents a new surgical robot designed for single-incision laparoscopic surgery. The robot features a novel remote center-of-motion (RCM) mechanism and articulated instruments for enhanced abdominal exploration and precise surgical maneuvers.

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Area of Science:

Robotics
Minimally Invasive Surgery
Surgical Technology

Background:

Single-incision laparoscopic surgery (SILS) offers cosmetic and potential patient benefits but faces challenges with instrument articulation and workspace limitations.
Existing robotic systems often require multiple incisions or lack the dexterity for complex maneuvers within a confined surgical site.
The need for advanced robotic solutions that enable precise instrument control through a single small incision is critical for the advancement of SILS.

Purpose of the Study:

To introduce a novel surgical robot system specifically designed for single-incision laparoscopic surgeries.
To detail the design and functionality of the cone-type remote center-of-motion (RCM) mechanism and its articulated instruments.
To demonstrate the feasibility and preliminary performance of the robotic system in surgical tasks.

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Main Methods:

Development of a cone-type RCM mechanism with two revolute and one prismatic joint, creating a stationary point at the incision site.
Integration of two articulated surgical instruments, each with six joints including a novel flexible linkage-driven elbow mechanism.
The elbow mechanism utilizes a flexible leaf spring, inspired by the slider-crank mechanism, to enhance payload capacity and reduce looseness error.
Verification of the robot's payload capacity (exceeding 10 N) and preliminary testing of peg transfer and suturing tasks.

Main Results:

The developed surgical robot successfully enables instrument exploration within the abdominal cavity through a single small incision.
The flexible linkage-driven elbow mechanism provides six degrees of freedom, facilitating triangulation for surgical procedures.
Preliminary experiments demonstrated the robot's capability in executing basic surgical tasks such as peg transfer and suturing with promising results.
The robot's payload capacity was verified to be over 10 N, indicating its suitability for handling surgical tools.

Conclusions:

The novel surgical robot system, incorporating a cone-type RCM and flexible articulated instruments, is a viable solution for single-incision laparoscopic surgery.
The design effectively addresses the challenges of instrument maneuverability and workspace access in SILS.
Further research and clinical validation are warranted to fully assess the potential of this robotic system in improving surgical outcomes.