An All-joint-control Master Device for Single-port Laparoscopic Surgery Robots

Overview

Journal Int J Comput Assist Radiol Surg

Publisher Springer

Specialties General Surgery
Radiology

Date 2016 Feb 14

PMID 26872809

Citations 3

Authors

Seongbo Shim

Taehun Kang

Daekeun Ji

Hyunseok Choi

Sanghyun Joung

Jaesung Hong

Affiliations

Soon will be listed here.

Abstract

Purpose: Robots for single-port laparoscopic surgery (SPLS) typically have all of their joints located inside abdomen during surgery, whereas with the da Vinci system, only the tip part of the robot arm is inserted and manipulated. A typical master device that controls only the tip with six degrees of freedom (DOFs) is not suitable for use with SPLS robots because of safety concerns.

Methods: We designed an ergonomic six-DOF master device that can control all of the joints of an SPLS robot. We matched each joint of the master, the slave, and the human arm to decouple all-joint motions of the slave robot. Counterbalance masses were used to reduce operator fatigue. Mapping factors were determined based on kinematic analysis and were used to achieve all-joint control with minimal error at the tip of the slave robot.

Results: The proposed master device has two noteworthy features: efficient joint matching to the human arm to decouple each joint motion of the slave robot and accurate mapping factors, which can minimize the trajectory error of the tips between the master and the slave.

Conclusions: We confirmed that the operator can manipulate the slave robot intuitively with the master device and that both tips have similar trajectories with minimal error.

Citing Articles

Soft tissue surgical robot for minimally invasive surgery: a review.

Kim M, Zhang Y, Jin S Biomed Eng Lett. 2023; 13(4):561-569.

PMID: 37872994 PMC: 10590359. DOI: 10.1007/s13534-023-00326-3.

Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery.

Ji D, Kang T, Shim S, Lee S, Hong J Int J Comput Assist Radiol Surg. 2019; 14(8):1365-1377.

PMID: 30997634 DOI: 10.1007/s11548-019-01976-4.

Future study direction on single port (uniportal) VATS.

Rocco R, Rocco G J Thorac Dis. 2016; 8(Suppl 3):S328-32.

PMID: 27014481 PMC: 4783716. DOI: 10.3978/j.issn.2072-1439.2016.02.35.

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