Mechanical Design and Modeling of a Manipulator Tool for a Compact Multiple-Tool Single Port Laparoscopic Robot Platform

Wang, F.; Toombs, Nicholas; Kesavadas, Thenkurussi; Ferreira, Placid M.

doi:10.1109/embc.2019.8857539

Cited by 2 publications

(5 citation statements)

References 6 publications

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“…However, the payload capacity of SURS and IREP may be insufficient to complete complex laparoscopic surgical tasks unless their size is increased. For the SPL robots 23–25,34 with the sequential entry of manipulators, most of their port sizes do not exceed 25 mm of the SPL robots with cylindrical manipulators, even the robot with 15 mm‐diameter sub manipulators developed by Yung et al. Compared with them, the robot designed in this article has a relatively small port size and relatively big equivalent manipulator diameter.…”

Section: Discussionmentioning

confidence: 99%

“…15 However, the payload capacity of SURS and IREP may be insufficient to complete complex laparoscopic surgical tasks unless their size is increased. For the SPL robots [23][24][25]34 For example, as is shown in Figure 3B, the inner diameter of the ring can be 6 mm and the outer diameter can be 12 mm. So the required port diameter according to the installation steps of…”

Section: Discussionmentioning

confidence: 99%

“…Similarly, Wang et al. designed a compact SPL robotic platform, in which the arms enter the port in sequence 24 . Its cable‐driven arm has a simple structure and a diameter of only 8 mm, but it makes insufficient use of the space of the access port.…”

Section: Introductionmentioning

confidence: 99%

“…Similarly, Wang et al designed a compact SPL robotic platform, in which the arms enter the port in sequence. 24 Its cable-driven arm has a simple structure and a diameter of only 8 mm, but it makes insufficient use of the space of the access port. Recently, Vicarious Surgical Inc. developed an SPL robot with a highly dexterous manipulator and a port diameter of only 15 mm.…”

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confidence: 99%

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A cable‐driven highly compact single port laparoscopic surgical robot with sequentially inserted arms

Yang

Sun

Chen

et al. 2022

Robotics Computer Surgery

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Background The single port surgical robot causes only one incision and brings many benefits to patients. It is very challenging to design a single port surgical robot that causes a smaller incision than current products. Methods This paper presents a highly compact single port laparoscopy surgical robot, which makes full use of the space of the port and only needs a 15 mm‐diameter port. The robot is composed of a camera manipulator and two operating manipulators. The non‐fully cylindrical manipulators enter the port sequentially, and the equivalent diameter of each operating manipulator is 12 mm. An additional 9 mm‐diameter channel is left for other surgical tools to pass through after all manipulators entering the port. Results The kinematics model of the robot is established, including detailed forward kinematics model and inverse kinematics solution based on geometric iteration method. The teleoperation experiment shows that the manipulator can complete the object‐grasping, object‐transfer and weight‐lifting tasks. Conclusions The proposed single port surgical robot design concept can also be extended to the field of natural orifice transluminal endoscopic surgical robots.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

A cable‐driven highly compact single port laparoscopic surgical robot with sequentially inserted arms

Yang

Sun

Chen

et al. 2022

Robotics Computer Surgery

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“…1,2 As shown in Figure 1, a light manipulator with compact lay-out is designed, which has an effective major diameter of 8 mm when in a straightened configuration. 3 Unlike rigid transmission, flexible transmission uses compact structures and flexible layouts and is therefore more suitable for situations involving heavy loading and narrow spaces. The most commonly used medium in flexible transmission is wire rope, which is a very mature industrial product with a variety of models and a heavy bearing range.…”

mentioning

confidence: 99%

Modeling of fibrous tow transmission considering residual strain and friction

Che

Zhang

Hou

et al. 2021

Textile Research Journal

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This study established a mechanical model based on the mechanical properties of fibrous tows and their force of interaction with spools. The proposed model not only describes the hysteresis, nonlinear elastic, and viscoelastic stress components, but also analyzes the effect of residual strain on aramid fiber mechanical properties. Moreover, the effect of the interaction force between the fiber and spool on the transmission accuracy should be considered. Contrary to the conventional view, hysteresis is caused not only by internal sliding among molecules and molecular chains but also by friction between the fibers and spools. To assess this effect, several monotonous and cyclic tensile tests were conducted, with the results showing that the maximum relative error of the mechanical model did not exceed 5%. The proposed mechanical model can help designers determine effective carrying ranges and predict the fiber mechanical behavior, thereby laying a foundation for achieving nonlinear control of the fibrous tow transferring load.

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Mechanical Design and Modeling of a Manipulator Tool for a Compact Multiple-Tool Single Port Laparoscopic Robot Platform

Cited by 2 publications

References 6 publications

A cable‐driven highly compact single port laparoscopic surgical robot with sequentially inserted arms

A cable‐driven highly compact single port laparoscopic surgical robot with sequentially inserted arms

Modeling of fibrous tow transmission considering residual strain and friction

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