NDLI: Development of manipulator including exchange-type multi-articulated end-effector for single port surgical robot

Content Provider	IEEE Xplore Digital Library
Author	Seung, S.M. Choi, H.S. Kim, W.Y. Ko, S.Y. Park, J.O. Park, S.H.
Copyright Year	2011
Description	Author affiliation: Mechanical Engineering Department, University of Chonnam, Gwangju, 500-757, Korea (Seung, S.M.; Choi, H.S.; Kim, W.Y.; Ko, S.Y.; Park, J.O.; Park, S.H.)
Abstract	Recently, various surgical robots have been developed for a minimal invasive surgery. In this study, we developed a small sized manipulator for a minimally invasive surgery robot, which could show safe and precise performances. The small manipulator consists of two articulated end-effectors and a stereo endoscope. The two articulated end-effectors included 5 degree of freedom (DOF) gripping end-effector and 4 DOF suction and injection end-effector. The stereo-endoscope makes a 3 dimensional (3D) image of the surgical area for a surgeon. The developed small manipulator was designed as modular structures and each end-effector module and the stereo-endoscope could be easily replaced and sterilized. For single port surgery, the small manipulator has a tube shape with the form of a trocar and three channels for the insertion of the two end-effectors and the stereo-endoscope. Through these channels, the two manipulators could access the affected area of the surgical area and could make independent surgical works. The two articulated end-effectors with a small size have precise and simple driving mechanisms. In addition, the interferences between every driving axis in the end-effectors were minimized. Consequently, for single port surgery, the precise surgical manipulator with multi-articulated end-effectors and the stereo-endoscope was designed and fabricated. The performances of the proposed manipulator were evaluated.
Starting Page	425
Ending Page	430
File Size	1008089
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181323
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Surgery Medical robotics Wires Mechanical engineering Educational institutions
Content Type	Text
Resource Type	Article

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