Kinematic Analysis of Needle-like Overtube Supporting Robot

Jeongdo Ahn; Minho Hwang; Dong Soo Kwon

doi:10.1109/URAI.2018.8441780

Kinematic Analysis of Needle-like Overtube Supporting Robot

Jeongdo Ahn, Minho Hwang, Dong Soo Kwon

Department of Robotics and Mechatronics Engineering

Korea Advanced Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper presents the design and structure simulation of needle-like overtube shape locking robot. This robot is designed for applying to natural orifice transluminal endoscopic surgery, or NOTES, and single port surgery, or SPS. It consists of three main parts; needle, snare, and remote center of motion (RCM) mechanism with three degrees of freedom. Using the RCM mechanism, a needle with a 3mm of outer diameter can locate at the point of fulcrum from out of the abdomen. Once the needle reaches the endoscope, a snare comes out of the end of the needle and grasps the endoscope. This method can be used to specify the position of the endoscope in the abdomen cavity. The length of needles and the design requirements of the RCM mechanism were designed in consideration of the insertion into the abdomen cavity and the range of motion of the surgical tool within the abdomen cavity. In order to analysis workspace, kinematic analysis and simulation was conducted.

Original language	English
Title of host publication	2018 15th International Conference on Ubiquitous Robots, UR 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	38-43
Number of pages	6
ISBN (Print)	9781538663349
DOIs	https://doi.org/10.1109/URAI.2018.8441780
State	Published - 20 Aug 2018
Event	15th International Conference on Ubiquitous Robots, UR 2018 - Honolulu, United States Duration: 27 Jun 2018 → 30 Jun 2018

Publication series

Name	2018 15th International Conference on Ubiquitous Robots, UR 2018

Conference

Conference	15th International Conference on Ubiquitous Robots, UR 2018
Country/Territory	United States
City	Honolulu
Period	27/06/18 → 30/06/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Flexible endoscope
RCM mechanisms
needle-like
shape locking mechanism
single port laparoscopic surgery

Access to Document

10.1109/URAI.2018.8441780

Cite this

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title = "Kinematic Analysis of Needle-like Overtube Supporting Robot",

abstract = "This paper presents the design and structure simulation of needle-like overtube shape locking robot. This robot is designed for applying to natural orifice transluminal endoscopic surgery, or NOTES, and single port surgery, or SPS. It consists of three main parts; needle, snare, and remote center of motion (RCM) mechanism with three degrees of freedom. Using the RCM mechanism, a needle with a 3mm of outer diameter can locate at the point of fulcrum from out of the abdomen. Once the needle reaches the endoscope, a snare comes out of the end of the needle and grasps the endoscope. This method can be used to specify the position of the endoscope in the abdomen cavity. The length of needles and the design requirements of the RCM mechanism were designed in consideration of the insertion into the abdomen cavity and the range of motion of the surgical tool within the abdomen cavity. In order to analysis workspace, kinematic analysis and simulation was conducted.",

keywords = "Flexible endoscope, RCM mechanisms, needle-like, shape locking mechanism, single port laparoscopic surgery",

author = "Jeongdo Ahn and Minho Hwang and Kwon, \{Dong Soo\}",

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year = "2018",

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doi = "10.1109/URAI.2018.8441780",

language = "English",

isbn = "9781538663349",

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}

Ahn, J, Hwang, M & Kwon, DS 2018, Kinematic Analysis of Needle-like Overtube Supporting Robot. in 2018 15th International Conference on Ubiquitous Robots, UR 2018., 8441780, 2018 15th International Conference on Ubiquitous Robots, UR 2018, Institute of Electrical and Electronics Engineers Inc., pp. 38-43, 15th International Conference on Ubiquitous Robots, UR 2018, Honolulu, United States, 27/06/18. https://doi.org/10.1109/URAI.2018.8441780

Kinematic Analysis of Needle-like Overtube Supporting Robot. / Ahn, Jeongdo; Hwang, Minho; Kwon, Dong Soo.
2018 15th International Conference on Ubiquitous Robots, UR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 38-43 8441780 (2018 15th International Conference on Ubiquitous Robots, UR 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Ahn, Jeongdo

AU - Hwang, Minho

AU - Kwon, Dong Soo

PY - 2018/8/20

Y1 - 2018/8/20

N2 - This paper presents the design and structure simulation of needle-like overtube shape locking robot. This robot is designed for applying to natural orifice transluminal endoscopic surgery, or NOTES, and single port surgery, or SPS. It consists of three main parts; needle, snare, and remote center of motion (RCM) mechanism with three degrees of freedom. Using the RCM mechanism, a needle with a 3mm of outer diameter can locate at the point of fulcrum from out of the abdomen. Once the needle reaches the endoscope, a snare comes out of the end of the needle and grasps the endoscope. This method can be used to specify the position of the endoscope in the abdomen cavity. The length of needles and the design requirements of the RCM mechanism were designed in consideration of the insertion into the abdomen cavity and the range of motion of the surgical tool within the abdomen cavity. In order to analysis workspace, kinematic analysis and simulation was conducted.

AB - This paper presents the design and structure simulation of needle-like overtube shape locking robot. This robot is designed for applying to natural orifice transluminal endoscopic surgery, or NOTES, and single port surgery, or SPS. It consists of three main parts; needle, snare, and remote center of motion (RCM) mechanism with three degrees of freedom. Using the RCM mechanism, a needle with a 3mm of outer diameter can locate at the point of fulcrum from out of the abdomen. Once the needle reaches the endoscope, a snare comes out of the end of the needle and grasps the endoscope. This method can be used to specify the position of the endoscope in the abdomen cavity. The length of needles and the design requirements of the RCM mechanism were designed in consideration of the insertion into the abdomen cavity and the range of motion of the surgical tool within the abdomen cavity. In order to analysis workspace, kinematic analysis and simulation was conducted.

KW - Flexible endoscope

KW - RCM mechanisms

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KW - single port laparoscopic surgery

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DO - 10.1109/URAI.2018.8441780

M3 - Conference contribution

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PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 27 June 2018 through 30 June 2018

ER -

Kinematic Analysis of Needle-like Overtube Supporting Robot

Abstract

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Bibliographical note

Keywords

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