Design and Realization of a Robotic Manipulator for Minimally Invasive Surgery With Replaceable Surgical Tools

Minimally invasive surgery is a useful but challenging surgical technique. Several robotic manipulators have been realized in the past three decades to overcome its difficulties. However, a majority of these manipulators lack two important features. First, the ability to provide a right-angled tool...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2020-12, Vol.25 (6), p.2754-2764
Main Authors: Nisar, Sajid, Hameed, Asad, Kamal, Nabeel, Hasan, Osman, Matsuno, Fumitoshi
Format: Article
Language:English
Subjects:
Hardware
Kinematic design
Kinematics
Laparoscopy
Manipulators
Pain
remote center of motion (RCM) mechanism
replaceable surgical tool
Robot arms
robot-assisted surgery
Robotic surgery
Robotics
Surgery
Surgical apparatus & instruments
Surgical instruments
surgical manipulator
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Summary:Minimally invasive surgery is a useful but challenging surgical technique. Several robotic manipulators have been realized in the past three decades to overcome its difficulties. However, a majority of these manipulators lack two important features. First, the ability to provide a right-angled tool entry (with respect to the surrounding skin tissue) for entry-ports located on the far-side of the patient's body, and second, rapid change of the surgical tools. To solve these issues, this article presents synthesis of a new surgical manipulator that ensures a right-angled tool entry-in order to reduce postoperative pain in the patient's skin tissue-through its novel design. We describe the design, perform kinematic analysis, and validate the robotic manipulator's ability to maintain a remote center of motion. The proposed manipulator is equipped with a quick-release mechanism to facilitate rapid change of the surgical instruments during robot-assisted surgery. Contrary to the state-of-the-art, the proposed manipulator does not require extra passive arms to provide a proper tool entry-angle. The manipulator's performance is experimentally evaluated by performing tool-insertion, pegs-transfer, and path-following tasks in a master-slave teleoperation setting. It is demonstrated that the manipulator can perform basic surgical tasks, such as pick-and-place and object manipulation, with a high success rate.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2020.2991869