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A cable-driven distal end-effector mechanism for single-port robotic surgery
Yizhao Wang1, Qixin Cao1,2, Xiaoxiao Zhu3
1School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
International Journal of Computer Assisted Radiology and Surgery
|January 3, 2021
Summary
A new cable-driven end-effector for single-port robotic surgery was developed. This mechanism enhances surgical system maneuverability in confined spaces, improving robotic surgery capabilities.
Area of Science:
- Robotics
- Surgical Technology
- Mechanical Engineering
Background:
- Minimally invasive surgery and robotic systems are advancing.
- Challenges exist in operating surgical systems within narrow in vivo spaces.
- Distal end-effectors often face operational difficulties in confined surgical environments.
Purpose of the Study:
- To propose a novel cable-driven distal end-effector mechanism.
- To address the limitations of operating surgical systems in confined spaces.
- To enhance maneuverability for single-port robotic surgery.
Main Methods:
- A novel cable-driven joint structure and cable threading methods were developed.
- The mechanism integrates a parallelogram mechanism for workspace enlargement.
- A snake mechanism provides bending degrees of freedom for precise positioning.
Main Results:
- The prototype demonstrated expected performance in bending, translation, and combined movements.
- Manual assembly and cable tensioning were adequate for initial testing.
- Areas for improvement include automatic assembly to enhance load capacity and accuracy.
Conclusions:
- A cable-driven end-effector mechanism for single-port robotic surgery was successfully proposed.
- The mechanism utilizes a parallelogram and snake configuration.
- Novel cable-driven joints and threading methods ensure constant cable length and tension.
