Conically shaped remote center-of-motion mechanism for single-incision surgery

In this paper, we introduce a remote center-of-motion (RCM) mechanism with a conical shape for laparoscopic surgeries that involve a single incision. The mechanism, which has two revolute joints and one prismatic joint, is designed to maintain a stationary point at the apex of the conical shape. By...

Full description

Saved in:
Bibliographic Details
Published in2013 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3604 - 3609
Main Authors Hyundo Choi, Hyung Joo Kim, Yo-An Lim, Ho-Seong Kwak, Jun-Won Jang, Jonghwa Won
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2013
Subjects
Elbow
Endoscopes
Instruments
Joints
Kinematics
Robots
Surgery
Online AccessGet full text

Cover

More Information
Summary:In this paper, we introduce a remote center-of-motion (RCM) mechanism with a conical shape for laparoscopic surgeries that involve a single incision. The mechanism, which has two revolute joints and one prismatic joint, is designed to maintain a stationary point at the apex of the conical shape. By aligning the stationary point with the incision area, the mechanism allows a surgical instrument to explore the abdominal area through a small incision point. We have previously analyzed the reachable workspace of this mechanism. Here, we arrange two RCM mechanisms on a single conical structure but separated in space to avoid mutual interference, so as to enable the entire system to manipulate two surgical instruments through a single incision point without colliding. We describe the operational principle of this system, in addition to comparisons of various RCM mechanisms and the kinematics for parameter design and motion control. Finally, we describe preliminary experiments on peg transfer and suture motion by using the proposed RCM mechanism.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6696870