Related Experiment Videos
A single port surgical robot system with novel elbow joint mechanism for high force transmission
Minho Hwang1, Un-Je Yang1, Deokyoo Kong1
1Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
Background:
Despite its evident clinical benefits, single-incision laparoscopic surgery (SILS) imposes inherent limitations of collision between external arms and inadequate triangulation because multiple instruments are inserted through a single port at the same time.
Methods:
A robot platform appropriate for SILS was developed wherein an elbowed instrument can be equipped to easily create surgical triangulation without the interference of robot arms. A novel joint mechanism for a surgical instrument actuated by a rigid link was designed for high torque transmission capability.
Results:
The feasibility and effectiveness of the robot was checked through three kinds of preliminary tests: payload, block transfer, and ex vivo test. Measurements showed that the proposed robot has a payload capability >15 N with 7 mm diameter.
Conclusions:
The proposed robot is effective and appropriate for SILS, overcoming inadequate triangulation and improving workspace and traction force capability.