Minho Hwang1, Un-Je Yang1, Deokyoo Kong1, Deok Gyoon Chung1, June-Gi Lim1, Dong-Ho Lee1, Daniel H Kim2, Dongsuk Shin2, Taeho Jang2, Jeong-Whun Kim3, Dong-Soo Kwon1. 1. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea. 2. Department of Neurosurgery, University of Texas Health Science Center at Houston, 6431 Fannin Street, Houston, TX, 77030, USA. 3. Department of Otorhinolaryngology, Seoul National University Bundang Hospital, 82, Gumi-ro, Bundang-gu, Seongnam, Republic of Korea.
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.
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.