INTRODUCTION: This study presents the design of a novel single port laparoscopic surgery robot that is actuated by plate-spring-driven mechanisms with high force transmission and a larger workspace. Many ongoing studies aim to develop robotic single port laparoscopic surgery platforms due to the potential advantages in terms of a short recovery period and fewer postoperative scars. Most of these investigations of single port access have focused on resolving the inconvenient maneuverability of manual single port laparoscopic surgery. However, drive mechanism structures are another requirement. MATERIALS AND METHODS: Most of the existing robotic platforms cannot transmit sufficient force, as many of them use wire-driven mechanisms, which are prone to mechanical deformation that also negatively affects the accuracy of the end effector. In addition, even the best-known laparoscopic surgical robot system has instruments with a limited workspace for single port laparoscopic surgery. Therefore, the purpose of this study was to propose a novel robotic single port laparoscopic surgery platform that uses plate springs to transmit higher forces during tissue handling. RESULTS AND CONCLUSION: Compared to wire- or link-driven mechanisms, the plate-spring mechanism provided surpassing force transmission, with >14 N force transmission achieved, which enables most laparoscopic surgery with single port access. In addition, the high degree of freedom structure of the proposed design permitted an expanded workspace, which might be the most competitive characteristic among the single port systems reported to date.
INTRODUCTION: This study presents the design of a novel single port laparoscopic surgery robot that is actuated by plate-spring-driven mechanisms with high force transmission and a larger workspace. Many ongoing studies aim to develop robotic single port laparoscopic surgery platforms due to the potential advantages in terms of a short recovery period and fewer postoperative scars. Most of these investigations of single port access have focused on resolving the inconvenient maneuverability of manual single port laparoscopic surgery. However, drive mechanism structures are another requirement. MATERIALS AND METHODS: Most of the existing robotic platforms cannot transmit sufficient force, as many of them use wire-driven mechanisms, which are prone to mechanical deformation that also negatively affects the accuracy of the end effector. In addition, even the best-known laparoscopic surgical robot system has instruments with a limited workspace for single port laparoscopic surgery. Therefore, the purpose of this study was to propose a novel robotic single port laparoscopic surgery platform that uses plate springs to transmit higher forces during tissue handling. RESULTS AND CONCLUSION: Compared to wire- or link-driven mechanisms, the plate-spring mechanism provided surpassing force transmission, with >14 N force transmission achieved, which enables most laparoscopic surgery with single port access. In addition, the high degree of freedom structure of the proposed design permitted an expanded workspace, which might be the most competitive characteristic among the single port systems reported to date.
Authors: Riccardo Autorino; Jeffrey A Cadeddu; Mihir M Desai; Matthew Gettman; Inderbir S Gill; Louis R Kavoussi; Estevão Lima; Francesco Montorsi; Lee Richstone; Jens U Stolzenburg; Jihad H Kaouk Journal: Eur Urol Date: 2010-08-27 Impact factor: 20.096
Authors: Matthew T Gettman; Wesley M White; Monish Aron; Riccardo Autorino; Tim Averch; Geoffrey Box; Jeffrey A Cadeddu; David Canes; Edward Cherullo; Mihir M Desai; Igor Frank; Indebir S Gill; Mantu Gupta; Georges-Pascal Haber; Mitchell R Humphreys; Brian H Irwin; Jihad H Kaouk; Louis R Kavoussi; Jaime Landman; Evangelos N Liatsikos; Estevao Lima; Lee E Ponsky; Abhay Rane; Maria Ribal; Robert Rabenhalt; Pradeep Rao; Lee Richstone; Mark D Sawyer; Rene Sotelo; Jens-Uwe Stolzenburg; Chad R Tracy; Robert J Stein Journal: Eur Urol Date: 2010-11-21 Impact factor: 20.096
Authors: Oran Jacob Isaac-Lowry; Steele Okamoto; Sahba Aghajani Pedram; Russell Woo; Peter Berkelman Journal: Int J Med Robot Date: 2017-03-27 Impact factor: 2.547