Background: Commercialised laparoscopic surgical robotic systems require a large operating room and can only be used in large hospitals. If the robotic system is to be used in a small-or medium-sized hospital, the occupied volume must be reduced further.
Methods:In this paper, we propose a bed-mounted system that can be installed in a general operating room. Furthermore, we proposed a novel positioning arm suitable for a bed-mounted surgical robot system.
Results:The surgical possibility of the proposed bed-mounted system has been verified. Furthermore, the surgical possibility of the proposed system was confirmed using in vivo animal experiments.
Conclusions:A bed-mounted laparoscopic robotic system and a novel positioning arm was proposed. The study's ultimate goal is to enable robotic surgery in small and medium-sized hospitals by introducing the proposed bed-mounted laparoscopic robot system, allowing many people to receive high-quality medical services.
Background
Intraocular surgery and reconstructive surgery are challenging microsurgery procedures that require two types of motion: precise motion and larger motion. To effectively perform the requisite motion using a robot, it is necessary to develop a manipulator that can adjust the scale of motion between precise motion and less precise, yet larger motion.
Aims
In this paper, we propose a novel microsurgery robot using the dual delta structure (DDS) to mechanically scale the motion to seamlessly adjust between precise and larger motion.
Materials & Methods
The DDS forms a lever mechanism that enables the motion scaling at the end‐effector using two delta platforms. Seamless scale adjustment enables the robot to effectively perform various surgical moves.
Results
A prototype robot system was developed to validate the effectiveness of the DDS. The experiment results in various scale settings validated the scaling mechanism of the DDS.
Conclusion
Through a graphical simulation and measurement experiment, the robot's precision level and attainable workspace has been confirmed adequate for intraocular and reconstructive surgery.
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