Mechanism of a Learning Robot Manipulator for Laparoscopic Surgical Training

  • Tao Yang
  • Jiang Liu
  • Weimin Huang
  • Yi Su
  • Liangjing Yang
  • Chee Kong Chui
  • Marcelo H. AngJr.
  • Stephen K. Y. Chang
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)

Abstract

This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the trainee based on the recorded motion.  The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction.

Keywords

Laparoscopy Surgical training Robot manipulator 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Tao Yang
    • 1
  • Jiang Liu
    • 1
  • Weimin Huang
    • 1
  • Yi Su
    • 2
  • Liangjing Yang
    • 3
  • Chee Kong Chui
    • 3
  • Marcelo H. AngJr.
    • 3
  • Stephen K. Y. Chang
    • 4
  1. 1.Dept. of Computer Graphics and Interface, Dept. of Computer Vision and Image UnderstandingInstitute for Infocomm ResearchSingaporeSingapore
  2. 2.Dept. of Computing ScienceInstitute of High Performance ComputingSingaporeSingapore
  3. 3.Dept. of Mechanical EngineeringNational University of SingaporeSingaporeSingapore
  4. 4.Dept. of SurgeryNational University HospitalSingaporeSingapore

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