Master–slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot

Jinno, Makoto

doi:10.1186/s40648-014-0023-6

Cited by 3 publications

(1 citation statement)

References 7 publications

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“…3. The development of a master-slave manipulator for laparoscopic surgery with the proposed mechanism using a 6-axis vertical articulated robot [26] or a redundant 7-axis vertical articulated robot to optimize motion both inside and outside of patient's abdominal cavity.…”

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confidence: 99%

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Jinno

2018

Robomech J

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Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopic surgery is the restriction of free motion of the forceps because of the limited degrees of freedom by the trocar. Recently, many master-slave manipulators with articulated forceps have been used in laparoscopic surgery to solve this problem. The wrist mechanism of an articulated forceps affects the controllability and range of motion of a slave manipulator in a patient's abdominal cavity. Therefore, it is important to improve upon the wrist mechanism of articulated forceps for robot-assisted laparoscopic surgery. This paper aims to propose a new wrist mechanism for articulated forceps to be used in laparoscopic surgery. The degrees of freedom of the proposed design are three motor-driven axes that use wires and pulleys (a pitch axis, yaw axis, and gripper axis) and a roll axis driven by manual rotation of the forceps shaft. In the proposed mechanism, the offset distance between the pitch and yaw axes was reduced. The offset value, i.e., 5.95 mm, is shorter than the maximum outer diameter 7.5 mm of the wrist mechanism. Singularity configurations of the wrist axes are avoided near the standard working posture by configuring the pitch and yaw axis. There are few parts and it is simple as compared to the previously developed clinical use robotic forceps. Furthermore, the effectiveness of the proposed mechanism was verified by tests. The range of pitch motion is ± 90°, yaw motion is ± 85° (or ± 90°), and gripper motion is 60° (or 50°). The transmission efficiencies are from about 55 to 75%. The grasping force and torque are more than 5 N and 70 mNm.

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confidence: 99%

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Jinno

2018

Robomech J

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Operation Comfort Analysis for the Master Manipulator of the Flexible Ureteroscopy Robot Based on Joint Torque

Wang

Zhao

Luo

et al. 2020

2020 IEEE International Conference on Mechatronics and Automation (ICMA)

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Simple noninterference mechanism between the pitch and yaw axes for a wrist mechanism to be employed in robot-assisted laparoscopic surgery

Jinno

2019

Robomech J

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Laparoscopic surgery, which is also called minimally invasive surgery, is a surgical technique that is associated with accelerated post-operative recovery. However, it can only be performed by surgeons possessing advanced surgical skills. One of the main challenges in laparoscopic surgery is the restriction of the free motion of forceps because of the limited degrees of freedom imposed by the trocar. Recently, to overcome this problem, many master-slave manipulators with articulated forceps have been used in laparoscopic surgery. The wrist mechanism of the articulated forceps affects the controllability and range of motion of the slave manipulator in the abdominal cavity of a patient. Therefore, improvement of the wrist mechanism of the articulated forceps is important for robot-assisted laparoscopic surgery. This study proposes a new wrist mechanism for using articulated forceps in laparoscopic surgery. The degrees of freedom of the proposed design are provided by motor-driven or manually driven axes employing various wires and pulleys (pitch, yaw, and gripper axes). The kinematic model of this mechanism is decoupled between the pitch axis and yaw axis by a very simple mechanism using arc-shaped guides and wire guide holes. The arc-shaped guides minimize the wire path length error of the yaw and gripper axis wire resulting from the motion of the pitch axis. The optimized position of the arc-shaped guides is decided by the minimal root-mean-square value of the wire path length error. The proposed wrist mechanism has only half the number of parts as compared to the previously developed robotic forceps for clinical use. Furthermore, the effectiveness of the proposed mechanism was demonstrated on a prototype model with a maximum outer diameter of 7.5 mm. Conversely, the disadvantages of the proposed mechanism lie in the transmission mechanism efficiency and no-load input torque. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.1. Increase in the motion range of the actuators.

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Master–slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot

Cited by 3 publications

References 7 publications

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Operation Comfort Analysis for the Master Manipulator of the Flexible Ureteroscopy Robot Based on Joint Torque

Simple noninterference mechanism between the pitch and yaw axes for a wrist mechanism to be employed in robot-assisted laparoscopic surgery

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