Abstract
Minimally invasive surgery (MIS) bring remarkable benefits such as reduced trauma, shorter hospital stay, less complication, and cosmetic treatment. In order to perform smoothly in MIS, dexterous surgical instruments are in urgent needs. This paper presents a 6-DOF dexterous manipulator for Single Port Access Surgery (SPAS). It is composed of four parts, 1-DOF linear motion joint, two 2-DOF bendable joints (segment1 and segment2), and 1-DOF rotational end effector. The two bendable segments with “Double Screw Drive (DSD) mechanism” structure can be actuated for arbitrary bending motion in any direction. Flexible shaft is used for power transmission. The distribution of the power transmission element in the manipulator was compared by using two different design configurations. In the first prototype, the flexible shaft was directly connected with each actuator in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts are connected to the base of the manipulator. In order to pass the power to the distal of the manipulator, universal joints and slide unit are used for power transmission to pass through the proximal bendable segment. The improvement done with the design of the second prototype decreased the torque necessary to drive the flexible shafts during bending motion in surgical operations. Experiment results show that the second prototype of manipulator has enough range of movement for surgical intervention, the possibility of using the dexterous manipulator in the SPAS was discussed.
This work was supported in part by Global COE (Centers of Excellence) program “Global Robot Academia”, from the Ministry of Education, Culture, Sports, Science and Technology of Japan, in part by Grant Scientific Research (A) (90198664), Japan and in part by a Waseda University Grant for Special Research Project (2009B-207)
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Liu, Q., Kobayashi, Y., Zhang, B., Hashizume, M., Fujie, M.G. (2016). Development of a Dexterous Manipulator for Single Port Access Surgery. In: Fujie, M. (eds) Computer Aided Surgery. Springer, Tokyo. https://doi.org/10.1007/978-4-431-55810-1_4
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DOI: https://doi.org/10.1007/978-4-431-55810-1_4
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