Choi Hyundo, Kwak Ho-Seong, Lim Yo-An, Kim Hyung-Joo
IEEE Trans Biomed Eng. 2014 Sep;61(9):2458-66. doi: 10.1109/TBME.2014.2320941. Epub 2014 May 12.
This paper introduces a novel surgical robot for single-incision laparoscopic surgeries. The robot system includes the cone-type remote center-of-motion (RCM) mechanism and two articulated instruments having a flexible linkage-driven elbow. The RCM mechanism, which has two revolute joints and one prismatic joint, is designed to maintain a stationary point at the apex of the cone shape. By placing the stationary point on the incision area, the mechanism allows a surgical instrument to explore the abdominal area through a small incision point. The instruments have six articulated joints, including an elbow pitch joint, which make the triangulation position for the surgery possible inside of the abdominal area. The presented elbow pitch structure is similar to the slider-crank mechanism but the connecting rod is composed of a flexible leaf spring for high payload and small looseness error. We verified the payload of the robot is more than 10 N and described preliminary experiments on peg transfer and suture motion by using the proposed surgical robot.
本文介绍了一种用于单切口腹腔镜手术的新型手术机器人。该机器人系统包括锥形远程运动中心（RCM）机构和两个具有柔性连杆驱动肘部的关节式器械。RCM机构有两个旋转关节和一个棱柱关节，旨在在锥形顶点处保持一个固定点。通过将固定点置于切口区域，该机构允许手术器械通过一个小切口点探索腹部区域。这些器械有六个关节，包括一个肘部俯仰关节，这使得在腹部区域内进行手术的三角定位成为可能。所提出的肘部俯仰结构类似于曲柄滑块机构，但连杆由柔性板簧组成，以实现高负载和小松动误差。我们验证了该机器人的负载超过10 N，并描述了使用所提出的手术机器人进行栓柱转移和缝合运动的初步实验。
