• DocumentCode
    3575872
  • Title

    Design and simulation of a single-port surgical system on multi DoF instruments

  • Author

    Geon Won ; Jung-Hoon Hwang ; Chang-Woo Park

  • Author_Institution
    Intell. Robot. Res. Center, Korea Electron. Technol. Inst., Seoul, South Korea
  • fYear
    2014
  • Firstpage
    242
  • Lastpage
    245
  • Abstract
    A single port surgery has merits as small scar and little physical burden of subject while it has narrow workspace and small range of operations because of the mechanical limits of the instruments. In order to enlarge the application range of single port surgery, it is important to increase the stiffness and the force of the instruments. This paper presents the design and simulation of a single-port surgical system with multi DoF instruments.
  • Keywords
    biomedical equipment; medical robotics; surgery; multiDoF instruments; narrow workspace; single-port surgical system; stiffness; Equations; Instruments; Joints; Kinematics; Robots; Surgery; Wires; DLS inverse; Inverse Kinematics; Robot Simulation; Surgery instrument;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
  • Type

    conf

  • DOI
    10.1109/URAI.2014.7057450
  • Filename
    7057450
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3575872