Abstract
This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the trainee based on the recorded motion. The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Voyles, C.R., et al.: A practical approach to laparoscopic cholecystectomy. Am J. Surg. 161(3), 365–370 (1991)
Alberich-Bayarri, A., et al.: Volume Mesh Generation and Finite Element Analysis of Trabecular Bone Magnetic Resonance Images. In: 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2007 (2007)
Derossis, A.M., Fried, G.M., et al.: Development of a model for training and evaluation of laparoscopic skills (0002-9610 (Print))
Derossis, A.M., et al.: The effect of practice on performance in a laparoscopic simulator. Surg. Endosc. 12(9), 1117–1120 (1998)
Woodrum, D.T., et al.: Construct validity of the LapSim laparoscopic surgical simulator. The American Journal of Surgery 191(1), 28–32 (2006)
Teo, C.L., Burdet, E., Lim, H.P.: A robotic teacher of Chinese handwriting. In: Proceedings. 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002(2002)
Bluteau, J., et al.: Haptic guidance improves the visuo-manual tracking of trajectories. PLoS One 3(3), e1775 (2008)
Lee, C.-S., et al.: Designing an Active Motor Skill Learning Platform with a Robot-Assisted Laparoscopic Trainer. In: 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston (2011)
Vijaykumar, R., Tsai, M., Waldron, K.: Geometric optimization of manipulator structures for working volume and dexterity. In: Proceedings of 1985 IEEE International Conference on Robotics and Automation (1985)
Piccin, O., et al.: Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace. Mechanism and Machine Theory 44(8), 1485–1496 (2009)
Rosen, J., et al.: Surgeon-tool force/torque signatures–evaluation of surgical skills in minimally invasive surgery. Stud. Health Technol. Inform. 62, 290–296 (1999)
Yang, T., et al.: Modeling cutting force of laparoscopic scissors. In: 2010 3rd International Conference on Biomedical Engineering and Informatics, BMEI (2010)
Misra, S., Ramesh, K.T., Okamura, A.M.: Modeling of tool-tissue interactions for computer-based surgical simulation: A literature review. Presence-Teleoperators and Virtual Environments 17(5), 463–491 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Yang, T. et al. (2013). Mechanism of a Learning Robot Manipulator for Laparoscopic Surgical Training. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-33932-5_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33931-8
Online ISBN: 978-3-642-33932-5
eBook Packages: EngineeringEngineering (R0)