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A cable-driven distal end-effector mechanism for single-port robotic surgery.

Yizhao Wang¹, Qixin Cao^1,2, 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.

Keywords:

Cable-driven Mechanism design Minimally invasive Single-port surgery Surgical robot

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Published on: November 14, 2015

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.