A single port surgical robot system with novel elbow joint mechanism for high force transmission

Minho Hwang; Un Je Yang; Deokyoo Kong; Deok Gyoon Chung; June Gi Lim; Dong Ho Lee; Daniel H. Kim; Dongsuk Shin; Taeho Jang; Jeong Whun Kim; Dong Soo Kwon

doi:10.1002/rcs.1808

A single port surgical robot system with novel elbow joint mechanism for high force transmission

Minho Hwang, Un Je Yang, Deokyoo Kong, Deok Gyoon Chung, June Gi Lim, Dong Ho Lee, Daniel H. Kim, Dongsuk Shin, Taeho Jang, Jeong Whun Kim, Dong Soo Kwon

Department of Robotics and Mechatronics Engineering

Research output: Contribution to journal › Article › peer-review

27 Scopus citations

Abstract

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.

Original language	English
Article number	e1808
Journal	International Journal of Medical Robotics and Computer Assisted Surgery
Volume	13
Issue number	4
DOIs	https://doi.org/10.1002/rcs.1808
State	Published - Dec 2017

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Publisher Copyright:
Copyright © 2017 John Wiley & Sons, Ltd.

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10.1002/rcs.1808

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title = "A single port surgical robot system with novel elbow joint mechanism for high force transmission",

abstract = "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.",

author = "Minho Hwang and Yang, {Un Je} and Deokyoo Kong and Chung, {Deok Gyoon} and Lim, {June Gi} and Lee, {Dong Ho} and Kim, {Daniel H.} and Dongsuk Shin and Taeho Jang and Kim, {Jeong Whun} and Kwon, {Dong Soo}",

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doi = "10.1002/rcs.1808",

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T1 - A single port surgical robot system with novel elbow joint mechanism for high force transmission

AU - Hwang, Minho

AU - Yang, Un Je

AU - Kong, Deokyoo

AU - Chung, Deok Gyoon

AU - Lim, June Gi

AU - Lee, Dong Ho

AU - Kim, Daniel H.

AU - Shin, Dongsuk

AU - Jang, Taeho

AU - Kim, Jeong Whun

AU - Kwon, Dong Soo

PY - 2017/12

Y1 - 2017/12

N2 - 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.

AB - 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.

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A single port surgical robot system with novel elbow joint mechanism for high force transmission

Abstract

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