TY - GEN
T1 - System Design of A Dual-Arm Surgical Robot for Single Port Access Surgery
AU - Liu, Quanquan
AU - Zhang, Xin
AU - Wang, Chunbao
AU - Zhang, Bo
AU - Shang, Wangfeng
AU - Lin, Zhuohua
AU - Duan, Lihong
AU - Wu, Zhengzhi
AU - Fujie, Masakatsu G.
N1 - Funding Information:
This work was supported in part by National Natural Science Foundation of China (61703282), Technology Research Foundation of Basic Research Project of Shenzhen(JCYJ20160428110354308), Research Foundation of Health and Family Planning Commission of Shenzhen Municipality (No.201601054 and No.SZBC2017006), Global COE (Centers of Excellence) program "Global Robot Academia", from the Ministry of Education, Culture, Sports, Science and Technology of Japan, in part by Research Foundation of Beijing Advanced Innovation Center for Intelligent Robots and Systems (No.2016IRS12), Research Foundation of International Cooperation of Shenzhen Municipality (No. GJHZ20170331105318685), Sanming Project of Medicine in Shenzhen (No.SZSM201612049, No. SZSM201512011).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/14
Y1 - 2018/11/14
N2 - 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.
AB - 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.
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U2 - 10.1109/IISR.2018.8535702
DO - 10.1109/IISR.2018.8535702
M3 - Conference contribution
AN - SCOPUS:85059079743
T3 - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
SP - 349
EP - 354
BT - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
Y2 - 24 August 2018 through 27 August 2018
ER -