TY - GEN
T1 - Development of microsurgical robot arm using spherical serial RCM mechanism and commercial laparoscopic surgical robot instrument
AU - Choi, Dongeun
AU - Kim, Chunwoo
AU - Song, Jae Bok
N1 - Funding Information:
*This work was supported by the Korea Institute of Science and Technology (KIST) Institutional Program under Grant No. 2N62300.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Laparoscopic surgery is one of the most established application of the surgical robot, and many commercial surgical robot systems are available. These laparoscopic surgical robots have remote center of motion (RCM) mechanism to prevent the motion of the surgical tool in an unwanted direction. In addition, various surgical instruments with high maneuverability and precision in a narrow space are available with these robots. Using these advantages, studies have been made to apply laparoscopic surgical robots to microsurgery, but they are limited by the high price and large size of the robots. In this paper, we introduce the development of a compact surgical robot arm for microsurgery, such as anastomosis, which can be used with the instruments of a commercial laparoscopic surgical robot. This robot arm utilizes a spherical serial RCM mechanism to ensure that translation of the surgical instrument is always directed toward the surgical site, improving stability and accuracy. In addition, the surgical instrument of a commercial laparoscopic surgical robot Revo-i, can be attached and driven by the arm. Design and manufacturing of the microsurgical robot arm is presented.
AB - Laparoscopic surgery is one of the most established application of the surgical robot, and many commercial surgical robot systems are available. These laparoscopic surgical robots have remote center of motion (RCM) mechanism to prevent the motion of the surgical tool in an unwanted direction. In addition, various surgical instruments with high maneuverability and precision in a narrow space are available with these robots. Using these advantages, studies have been made to apply laparoscopic surgical robots to microsurgery, but they are limited by the high price and large size of the robots. In this paper, we introduce the development of a compact surgical robot arm for microsurgery, such as anastomosis, which can be used with the instruments of a commercial laparoscopic surgical robot. This robot arm utilizes a spherical serial RCM mechanism to ensure that translation of the surgical instrument is always directed toward the surgical site, improving stability and accuracy. In addition, the surgical instrument of a commercial laparoscopic surgical robot Revo-i, can be attached and driven by the arm. Design and manufacturing of the microsurgical robot arm is presented.
UR - http://www.scopus.com/inward/record.url?scp=85136147378&partnerID=8YFLogxK
U2 - 10.1109/UR55393.2022.9826280
DO - 10.1109/UR55393.2022.9826280
M3 - Conference contribution
AN - SCOPUS:85136147378
T3 - 2022 19th International Conference on Ubiquitous Robots, UR 2022
SP - 159
EP - 164
BT - 2022 19th International Conference on Ubiquitous Robots, UR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th International Conference on Ubiquitous Robots, UR 2022
Y2 - 4 July 2022 through 6 July 2022
ER -