Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 22, Issue 4, Pages 1717-1727Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2696965
Keywords
Force-sensing system; minimally invasive surgery (MIS); portable surgical robot; remote center-of-motion; telerobotic surgery
Categories
Funding
- Convergence Technology Development Program for Bionic Arms through the National Research Foundation (NRF) of Korea - Ministry of Science, ICT, and Future Planning [2014M3C1B2048175]
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To achieve a compact and lightweight surgical robot with force-sensing capability, in this paper, we propose a surgical robot called S-surge, which is developed for robot-assisted minimally invasive surgery, focusing mainly on its mechanical design and force-sensing system. The robot consists of a 4-degree-of-freedom (DOF) surgical instrument and a 3-DOF remote center-of-motion manipulator. The manipulator is designed by adopting a double-parallelogram mechanism and spherical parallel mechanism to provide advantages such as compactness, simplicity, improved accuracy, and high stiffness. Kinematic analysis was performed in order to optimize workspace. The surgical instrument enables multiaxis force sensing including a three-axis pulling force and single-axis grasping force. In this study, it will be verified that it is feasible to carry the entire robot around thanks to its light weight (4.7 kg); therefore, allowing the robot to be applicable for telesurgery in remote areas. Finally, it will be explained how we experimented with the performance of the robot and conducted tissue manipulating task using the motion and force sensing capability of the robot in a simulated surgical setting.
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