TY - GEN
T1 - Design of a novel single incision laparoscopic surgery robot with increased tissue handling force
AU - Ji, Daekeun
AU - Cheon, Byungsik
AU - Hashizume, Makoto
AU - Tomikawa, Morimasa
AU - Hong, Jaesung
PY - 2013
Y1 - 2013
N2 - Recently, the number of single port laparoscopic surgery (SILS) that can easily conceal postoperative scars is increasing, and robotic SILS platforms are being developed to overcome inconvenient maneuverability of manual SILS. However, the drive mechanism of most robotic SILS platforms existing uses the wire, therefore it cannot afford to deliver sufficient force, and the wire is mechanically deformed, thus causing negative effects on movement accuracy. Due to this limitation, a precious operation cannot be conducted by using conventional robotic SILS platforms. This paper presents the design of a novel single incision surgery robot that is actuated by using plate spring driven mechanisms with relatively high force transmission and larger workspace. Evaluations of PLAS were performed and its feasibility as a novel effective robotic SILS platform was proved.
AB - Recently, the number of single port laparoscopic surgery (SILS) that can easily conceal postoperative scars is increasing, and robotic SILS platforms are being developed to overcome inconvenient maneuverability of manual SILS. However, the drive mechanism of most robotic SILS platforms existing uses the wire, therefore it cannot afford to deliver sufficient force, and the wire is mechanically deformed, thus causing negative effects on movement accuracy. Due to this limitation, a precious operation cannot be conducted by using conventional robotic SILS platforms. This paper presents the design of a novel single incision surgery robot that is actuated by using plate spring driven mechanisms with relatively high force transmission and larger workspace. Evaluations of PLAS were performed and its feasibility as a novel effective robotic SILS platform was proved.
KW - Plate spring mechanism
KW - Robotic surgery
KW - Single incision laparoscopic surgery
UR - http://www.scopus.com/inward/record.url?scp=84884829745&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-40852-6_25
DO - 10.1007/978-3-642-40852-6_25
M3 - Conference contribution
AN - SCOPUS:84884829745
SN - 9783642408519
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 237
EP - 245
BT - Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings
PB - Springer Verlag
T2 - 6th International Conference on Intelligent Robotics and Applications, ICIRA 2013
Y2 - 25 September 2013 through 28 September 2013
ER -