Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot

Abstract

Laparoscopic surgery, one of the most popular minimally invasive surgeries, still has many drawbacks in clinical operations (Lefor, 2019). For instance, the surgery requires several experienced doctored to operate the endoscope. The doctors are easily fatigued in the time-consuming operation, and their hand movements become unstable. The resulting tremor of the surgical image may undermine the accuracy and quality of the surgery. These drawbacks can be effectively solved by the integrating robot technology into the surgery. The robot operation is accurate, flexible and immune to external disturbances. It can enhance the operation ability of the hands and eyes of the doctors, and thus eliminate the tremor in the surgical image. The proliferation of robot technology in clinical applications has given birth to the single-hole laparoscopic surgery (SHLS) (Iavazzo and Gkegkes, 2014), a technique designed to reduce surgical incision and infection possibility. During the SHLS, an endoscope is inserted through one operation hole in the umbilicus into the abdomen. This procedure ensures the safe and flexible operation of surgical instruments and prevents abdominal pollution and postoperative complications. The most representative minimally invasive SHLS robots include the da Vinci surgical system (Intuitive Surgical Inc.) (Grimminger et al., 2018), the single-hole surgical robot with a 7DOF multi-joint snake mechanism (Johns Hopkins University) (Simaan et al., 2004), and the single-hole two-arm robot Insertable Robotic Effector Platform (IREP) with multi-DOF snake joints (Columbia University) (Simaan et al., 2013). The angle of the endoscope should be adjustable at any time to offer a clear view of the abdominal cavity. This calls for the optimal position planning of the SHLS robot in the abdominal cavity (Sun et al., 2007). Since the initial position of robot arm depends on the abdominal incision position of the patient, it is necessary to select a proper incision position in the abdominal cavity according to the anatomical features and clinical experience. In general, the

Design and analysis of a continuum manipulator for use in narrow spaces

“…Moreover, to simplify the kinematics modeling process of the robot, the geometric analysis method is used to analyze the kinematics of the robot under the constant curvature assumption. In general, the workspace of the robot is divided into three types, which are the driving space, joint space and task space, respectively (Tian et al, 2019;Rone and Ben-Tzvi, 2014). The kinematics model can be derived by establishing the mapping relationship between the driving space and the joint space and the mapping relationship between the joint space and the operation space.…”

Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application

“…The authors used mathematical modeling and force/torque analysis to determine the correlation between the inputs of the driving system and the deflection angle of the laparoscopic robot. Tian et al [29] propose a laparoscopic surgical robot using a design based on axiomatic design theory to make correct decisions in the design process of the robot.…”