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...

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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
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container_issue
container_start_page 5285
container_title
container_volume 2015
creator Roh, Se-gon
Lee, Younbaek
Lee, Jongwon
Ha, Taesin
Sang, Taejun
Moon, Kyung-Won
Lee, Minhyong
Choi, Jung-yun
description 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.
doi_str_mv 10.1109/EMBC.2015.7319584
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Electron tubes
Instruments
Joints
Medical robotics
Robot sensing systems
Surgery
title Development of the SAIT single-port surgical access robot slave arm based on RCM Mechanism
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