Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 17, Issue 1, Pages 157-166Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2010.2098970
Keywords
4-BAR; single port access (SPA) surgery; stackable mechanism; surgical robot
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Funding
- National Research Foundation (NRF) [2008-0061778]
- Ministry of Education, Science and Technology (MEST)
- Ministry of Knowledge Economy (MKE) under the National Robotics Research Center for Autonomous Navigation Technology
- Gyeonggi Regional Research Center (GRRC) [GRRC HANYANG 2010-A02]
- MKE
- Korea Institute for Advancement in Technology (KIAT)
- Human Resources Development of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) [2007-P-EP-HM-E-07-0000]
- MKE, Korea
- Ministry of Public Safety & Security (MPSS), Republic of Korea [2009-F04-036] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [2008-0061778] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This paper proposes a new robotic manipulator using stackable 4-BAR mechanisms for single port access (SPA) surgery where the operation is performed by inserting multiple manipulators through one small body cavity. The proposed manipulator has the advantage that all actuators are able to be separated from the driving mechanism. In other words, it is possible to separate the electrical actuators from the mechanical linkage/joint components in the manipulators. Thus, the robotic manipulators, including the working joints and linkages, can be fabricated using selective materials that are light-weight and slim so that the multiple manipulators can be inserted through one small cavity. Moreover, since the suggested manipulator makes use of an individual 4-BAR mechanism to drive each independent joint, it is structurally strong. Using the kinematic model, we conduct a kinematic synthesis (design methodology) because the operating range of each working joint is usually limited by the design parameters of 4-BAR. Finally, we show that the stackable 4-BAR manipulator is a good alternative for SPA surgery through numerical simulations and implementation of the proposed manipulator.
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