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A cable-driven highly compact single port laparoscopic surgical robot with sequentially inserted arms.

Jianlin Yang¹, Zhijun Sun¹, Jinyan Chen¹

¹State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|November 17, 2022

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This study introduces a compact single port surgical robot utilizing a 15 mm port for minimally invasive procedures. The robot design allows for efficient manipulation and tool passage, enhancing surgical capabilities.

Area of Science:

Minimally invasive surgery
Surgical robotics
Medical device design

Background:

Single port surgical robots offer patient benefits through minimal incisions.
Designing smaller port surgical robots presents significant engineering challenges.

Purpose of the Study:

To present a highly compact single port laparoscopy surgical robot design.
To achieve a smaller incision size compared to existing single port systems.

Main Methods:

Developed a robot utilizing a 15 mm diameter port.
Incorporated a camera manipulator and two operating manipulators.
Designed non-fully cylindrical manipulators with an equivalent diameter of 12 mm, leaving a 9 mm channel for additional tools.

Main Results:

Keywords:

cable-driven mechanism kinematics single port laparoscopy surgical robot

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Established the robot's kinematics model, including forward kinematics and inverse kinematics solution.
Demonstrated manipulator functionality through teleoperation experiments.
Successfully performed object-grasping, object-transfer, and weight-lifting tasks.

Conclusions:

The novel single port surgical robot design is effective for minimally invasive procedures.
The design concept shows potential for application in natural orifice transluminal endoscopic surgery.