Title :
Development of the SAIT single-port surgical access robot slave arm based on RCM Mechanism
Author :
Se-gon Roh;Younbaek Lee;Jongwon Lee;Taesin Ha;Taejun Sang;Kyung-Won Moon;Minhyong Lee;Jung-yun Choi
Author_Institution :
Mechatronics Lab., Device and System Center, Samsung Advanced Institute of Technology (SAIT), Samsung Electronics Co., Ltd., Korea
Abstract :
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.
Keywords :
"Instruments","Electron tubes","Surgery","Joints","Medical robotics","Robot sensing systems"
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Electronic_ISBN :
1558-4615
DOI :
10.1109/EMBC.2015.7319584