TY - GEN
T1 - Mechanical Design and Modeling of a Manipulator Tool for a Compact Multiple-Tool Single Port Laparoscopic Robot Platform
AU - Wang, Fanxin
AU - Toombs, Nicholas J.
AU - Kesavadas, Thenkurussi
AU - Ferreira, Placid M.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Laparoendoscopic single-site surgery (LESS) has been shown to reduce the invasiveness of surgery by requiring only one incision to access the abdominal cavity. However, single-site surgery integrating with a compact robotic surgical platform remains as a unique challenge. To address this challenge, we have designed a comprehensive robotic surgery platform that consists of three 6-DOF manipulators and a laparoscope camera can all be inserted into the operation field through a single 18 mm cannula holding by one 4 degrees of freedom light-weight supporting frame. Each dexterous manipulator is 5+1 degree-of-freedom (DOF), serially inserted and removable, and remotely driven by 12 actuation tendons and is composed of rigid links joined by hybrid flexure hinges. This paper introduces the compact multiple-tool single port laparoscopic robot platform for the first time. Details of the mechanical design of the trocar and manipulator including joint design and tendon routing are presented. The forward and inverse kinematics of the manipulator are also discussed along with an analysis and simulation of the cooperative workspace of two manipulators. A preliminary dynamic model of the manipulator was also constructed to study the effect of tendon-sheath friction forces at various joint configurations. Future work will illustrate the existing supporting frame mechanism for posing tools and trocar.
AB - Laparoendoscopic single-site surgery (LESS) has been shown to reduce the invasiveness of surgery by requiring only one incision to access the abdominal cavity. However, single-site surgery integrating with a compact robotic surgical platform remains as a unique challenge. To address this challenge, we have designed a comprehensive robotic surgery platform that consists of three 6-DOF manipulators and a laparoscope camera can all be inserted into the operation field through a single 18 mm cannula holding by one 4 degrees of freedom light-weight supporting frame. Each dexterous manipulator is 5+1 degree-of-freedom (DOF), serially inserted and removable, and remotely driven by 12 actuation tendons and is composed of rigid links joined by hybrid flexure hinges. This paper introduces the compact multiple-tool single port laparoscopic robot platform for the first time. Details of the mechanical design of the trocar and manipulator including joint design and tendon routing are presented. The forward and inverse kinematics of the manipulator are also discussed along with an analysis and simulation of the cooperative workspace of two manipulators. A preliminary dynamic model of the manipulator was also constructed to study the effect of tendon-sheath friction forces at various joint configurations. Future work will illustrate the existing supporting frame mechanism for posing tools and trocar.
UR - http://www.scopus.com/inward/record.url?scp=85077906662&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2019.8857539
DO - 10.1109/EMBC.2019.8857539
M3 - Conference Proceeding
C2 - 31947179
AN - SCOPUS:85077906662
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 5836
EP - 5841
BT - 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Y2 - 23 July 2019 through 27 July 2019
ER -