Sen Shin, Harada Kanako, Hewitt Zackary, Susilo Ekawahyu, Kobayashi Etsuko, Sakuma Ichiro
a Graduate School of Engineering , The University of Tokyo , Tokyo , Japan.
b Department of Electrical Engineering , Clemson University , Clemson , SC , USA.
Minim Invasive Ther Allied Technol. 2017 Aug;26(4):232-239. doi: 10.1080/13645706.2017.1288634. Epub 2017 Feb 23.
Many minimally invasive surgical procedures and assisting robotic systems have been developed to further minimize the number and size of incisions in the body surface. This paper presents a new idea combining the advantages of modular robotic surgery, single incision laparoscopic surgery and needlescopic surgery.
In the proposed concept, modules carrying therapeutic or diagnostic tools are inserted in the abdominal cavity from the navel as in single incision laparoscopic surgery and assembled to 3-mm needle shafts penetrating the abdominal wall.
A three degree-of-freedom robotic module measuring 16 mm in diameter and 51 mm in length was designed and prototyped. The performance of the three connected robotic modules was evaluated.
A new idea of modular robotic surgery was proposed, and demonstrated by prototyping a 3-DOF robotic module. The performance of the connected robotic modules was evaluated, and the challenges and future work were summarized.
已经开发了许多微创手术程序和辅助机器人系统，以进一步减少体表切口的数量和大小。本文提出了一种结合模块化机器人手术、单切口腹腔镜手术和针状腹腔镜手术优点的新想法。
在所提出的概念中，携带治疗或诊断工具的模块如单切口腹腔镜手术那样从肚脐插入腹腔，并组装到穿透腹壁的3毫米针轴上。
设计并制作了一个直径16毫米、长度51毫米的三自由度机器人模块原型。对三个相连的机器人模块的性能进行了评估。
提出了模块化机器人手术的新想法，并通过制作一个三自由度机器人模块原型进行了演示。评估了相连机器人模块的性能，并总结了挑战和未来的工作。
