Development of microsurgical robot arm using spherical serial RCM mechanism and commercial laparoscopic surgical robot instrument

Dongeun Choi, Chunwoo Kim, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2022 19th International Conference on Ubiquitous Robots, UR 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages159-164
Number of pages6
ISBN (Electronic)9781665482530
DOIs
Publication statusPublished - 2022
Event19th International Conference on Ubiquitous Robots, UR 2022 - Jeju, Korea, Republic of
Duration: 2022 Jul 42022 Jul 6

Publication series

Name2022 19th International Conference on Ubiquitous Robots, UR 2022

Conference

Conference19th International Conference on Ubiquitous Robots, UR 2022
Country/TerritoryKorea, Republic of
CityJeju
Period22/7/422/7/6

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Mechanical Engineering
  • Control and Optimization

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