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A single port laparoscopic surgery robot with high force transmission and a large workspace

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Abstract

Introduction

This study presents the design of a novel single port laparoscopic surgery robot that is actuated by plate-spring-driven mechanisms with high force transmission and a larger workspace. Many ongoing studies aim to develop robotic single port laparoscopic surgery platforms due to the potential advantages in terms of a short recovery period and fewer postoperative scars. Most of these investigations of single port access have focused on resolving the inconvenient maneuverability of manual single port laparoscopic surgery. However, drive mechanism structures are another requirement.

Materials and Methods

Most of the existing robotic platforms cannot transmit sufficient force, as many of them use wire-driven mechanisms, which are prone to mechanical deformation that also negatively affects the accuracy of the end effector. In addition, even the best-known laparoscopic surgical robot system has instruments with a limited workspace for single port laparoscopic surgery. Therefore, the purpose of this study was to propose a novel robotic single port laparoscopic surgery platform that uses plate springs to transmit higher forces during tissue handling.

Results and Conclusion

Compared to wire- or link-driven mechanisms, the plate-spring mechanism provided surpassing force transmission, with >14 N force transmission achieved, which enables most laparoscopic surgery with single port access. In addition, the high degree of freedom structure of the proposed design permitted an expanded workspace, which might be the most competitive characteristic among the single port systems reported to date.

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Acknowledgments

We appreciate the advice from the Prof. Woo-Jung Lee at Yonsei University, and we appreciate the helpful comment and idea by Prof. Takeshi Ohdaira at Kyushu University. We also appreciate the help for paper organization by Prof. Pyung Hun Chang at DGIST. Mr. Seongbo Shim who is a Master student at surgical robotics lab., DGIST also helped greatly for the revision of the paper. This work was supported in part by the DGIST MIREBraiN Program, the R&D Program of th DGIST Convergence Science Center (12-BD-0402), and the Health and Medical R&D Program of the Ministry of Health and Welfare of Korea (HI13C1634).

Disclosures

Mrs. Byungsik Cheon, Erkin Gezgin, Dae Keun Ji, Morimasa Tomikawa, Makoto Hashizume, Hong-Jin Kim, and Jaesung Hong have no conflicts of interest or financial ties to disclose.

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Authors and Affiliations

  1. Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, Korea

    Byungsik Cheon, Erkin Gezgin, Dae Keun Ji & Jaesung Hong

  2. Department of Mechatronics Engineering, Izmir Katip Celebi University, Izmir, Turkey

    Erkin Gezgin

  3. Department of Advanced Medical Initiatives, Faculty of Medical Sciences, Kyushu University, Fukuoka, Japan

    Morimasa Tomikawa & Makoto Hashizume

  4. Department of HBP Surgery, Yeungnam University Hospital, Daegu, Korea

    Hong-Jin Kim

Authors
  1. Byungsik Cheon
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  2. Erkin Gezgin
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  3. Dae Keun Ji
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  4. Morimasa Tomikawa
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  5. Makoto Hashizume
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  6. Hong-Jin Kim
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  7. Jaesung Hong
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Corresponding author

Correspondence to Jaesung Hong.

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Cheon, B., Gezgin, E., Ji, D.K. et al. A single port laparoscopic surgery robot with high force transmission and a large workspace. Surg Endosc 28, 2719–2729 (2014). https://doi.org/10.1007/s00464-014-3534-6

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  • DOI: https://doi.org/10.1007/s00464-014-3534-6

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