Paper Info
Title
Development Of Visible Manipulator With Multi-Gear Array Mechanism For Laparoscopic Surgery
Abstract
In recent years, robotic technology has been introduced to medical fields, and many surgical robots have been proposed for minimally invasive surgery (MIS). However, due to the limitations in dexterity imposed by surgical instruments and occlusion area, surgeons experience great difficulties during operations. In this paper, we propose a visible manipulator for laparoscopic surgery. Unlike other multiple degree-of-freedom (DOF) manipulators that utilize compliant parts or tendons and pulleys, our proposed manipulator adopts a multi-gear array mechanism to perform the yaw and pitch motions. The manipulator is integrated with a visualization unit to provide macroscopic images for observation in a constrained cavity. Moreover, flexible surgical tools with different functions can be inserted through the central channel of the manipulator to perform diagnostic or therapeutic procedures. A master-slave system is developed to control the bending motions. Bending characteristics experiments and load capacity experiments are performed. The experimental results demonstrate that the proposed manipulator can perform bending motions with a yaw angle range of and a pitch angle range of The manipulator can lift a workload of 250 g during yaw motion and a workload of 150 g during pitch motion, demonstrating the potential clinical value of the visible manipulator for robot-assisted surgery.
Year
DOI
Venue
2020
10.1109/LRA.2020.2975722
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Medical robots and systems, mechanism design
Journal
5
Issue
ISSN
Citations 
2
2377-3766
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Haibo Wang101.01
Shuxin Wang24411.24
Siyang Zuo3177.12