System Design of A Dual-Arm Surgical Robot for Single Port Access Surgery

Quanquan Liu*, Xin Zhang, Chunbao Wang, Bo Zhang, Wangfeng Shang, Zhuohua Lin, Lihong Duan, Zhengzhi Wu, Masakatsu G. Fujie

*この研究の対応する著者

研究成果: Conference contribution

抄録

Single port access surgery (SPAS) attract much attention by taking potential advantages of fewer incisions and cosmetic therapeutic effects. Compared with multi-keyholes minimally invasive surgery (MIS), SPAS could fit through a single incision to deploy instruments for tissue manipulation. Robotic assistance SPAS is in great interest via improved precision, flexible manipulation and computer assisted. In order to perform smoothly in SPAS, dexterous surgical instruments are in urgent needs. This paper presents a surgical robot with dual arms configuration, with six degrees of freedom (DOFs) for each. The workspace of the dual-arm configuration is analyzed based on the kinematics of the orthogonal rotation joint of the surgical manipulator is calculated by using screw theory. The position accuracy experiment is performed based on the kinematical computation, and the results are promising for tissue surgical intervention. The preliminary experiment of tele-controlling the surgical manipulator for example ring transfer tasks points a way of performing SPAS by the existing designs.

本文言語English
ホスト出版物のタイトル2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ349-354
ページ数6
ISBN(電子版)9781538655467
DOI
出版ステータスPublished - 2018 11 14
イベント2018 International Conference on Intelligence and Safety for Robotics, ISR 2018 - Shenyang, China
継続期間: 2018 8 242018 8 27

出版物シリーズ

名前2018 International Conference on Intelligence and Safety for Robotics, ISR 2018

Conference

Conference2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
国/地域China
CityShenyang
Period18/8/2418/8/27

ASJC Scopus subject areas

  • 人工知能
  • 機械工学
  • 安全性、リスク、信頼性、品質管理
  • 制御と最適化

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