Prototype Design of Robotic Surgical Instrument for Minimally Invasive Robot Surgery View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2012

AUTHORS

Man Bok Hong , Yung-Ho Jo

ABSTRACT

This paper presents the prototype design of the robotic surgical instrument for minimally invasive surgery robot. For high reliability and stiffness characteristics of the instrument, it has been designed on the basis of 3-DOF (degrees of freedom) parallel robot mechanism with three identical PSR (Prismatic-Spherical-Revolute)- serial chains. Further, for the forceps grasp and axial rotational motions, it has one additional center leg. With this mechanical structure, 4-DOF motions of forceps, i.e., forceps grasp motion, 2-DOF wrist orientation, and 1-DOF axial rotation, are possible. Further, the capability of pure axial rotation of the proposed instrument forceps may enable more dexterous surgery compared to the other surgical instruments. Detailed description of the proposed me chanism is given and performance of the prototype compared to the other robotic instruments are discussed in this paper. More... »

PAGES

20-28

References to SciGraph publications

  • 2008-03. Kinematics of 3-RPS parallel manipulators by means of screw theory in THE INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
  • Book

    TITLE

    Computer Aided Surgery

    ISBN

    978-4-431-54093-9
    978-4-431-54094-6

    Author Affiliations

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-4-431-54094-6_3

    DOI

    http://dx.doi.org/10.1007/978-4-431-54094-6_3

    DIMENSIONS

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