Development of the SAIT single-port surgical access robot slave arm based on RCM Mechanism

An innovative single-port surgical robot has recently been developed by the Samsung Advanced Institute of Technology (SAIT). The robot can reach various surgical sites inside the abdominal cavity from a single incision on the body. It has two 7-DOF surgical tools, a 3-DOF endoscope, a flexible hyper...

Full description

Saved in:
Bibliographic Details
Main Authors: Roh, Se-gon, Lee, Younbaek, Lee, Jongwon, Ha, Taesin, Sang, Taejun, Moon, Kyung-Won, Lee, Minhyong, Choi, Jung-yun
Format: Conference Proceeding
Language:English
Subjects:
Electron tubes
Instruments
Joints
Medical robotics
Robot sensing systems
Surgery
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:An innovative single-port surgical robot has recently been developed by the Samsung Advanced Institute of Technology (SAIT). The robot can reach various surgical sites inside the abdominal cavity from a single incision on the body. It has two 7-DOF surgical tools, a 3-DOF endoscope, a flexible hyper-redundant 6-DOF guide tube, and a 6-DOF manipulator. This paper primarily focuses on the manipulator, called a slave arm, which is capable of setting the location of a Remote Center Motion (RCM) point. Because the surgical tools can explore the abdominal area through a small incision point when the RCM point is aligned with the incision area, the RCM mechanism is an integral part of the manipulator for single-port surgery. The mechanical feature, operational principle, control method, and the system architecture of the slave arm are introduced in this paper. In addition, manipulation experiments conducted validate its efficacy.
ISSN:1094-687X
1558-4615
2694-0604
DOI:10.1109/EMBC.2015.7319584