Abstract
Background: Despite its high lesion accessibility and versatility, endoscopic platforms have suffered from designing flexible manipulators with high payload capability sufficient to perform advanced endoscopic procedures. Methods: A flexible robotic platform, K-FLEX, has been developed with a design of 17 mm in overall diameter. To overcome the shape distortion and deflection in payload handling, a strong continuum manipulator has been designed to have maximum resistance to the distortion. The kinematic analysis and mapping strategy have been established for the master-slave teleoperation. Results: The proposed manipulator has shown 7.5 mm in trajectory variation to lift the weight of 300 g. Finally, the feasibility of the integrated K-FLEX system has been verified through three kinds of simulated surgical tasks. Conclusions: The initial prototype of the proposed robot showed the possibility of advanced endoscopic surgery with improved payload capability.
| Original language | English |
|---|---|
| Article number | e2078 |
| Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
| Volume | 16 |
| Issue number | 2 |
| DOIs | |
| State | Published - 1 Apr 2020 |
Bibliographical note
Publisher Copyright:© 2020 John Wiley & Sons, Ltd
Keywords
- computer-assisted surgery
- continuum robots
- flexible manipulator
- kinematics mapping
- master device
- minimally invasive surgery (MIS)
- surgical robots