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Computer Aided Surgery pp 20–28Cite as

Prototype Design of Robotic Surgical Instrument for Minimally Invasive Robot Surgery

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Part of the book series: Proceedings in Information and Communications Technology ((PICT,volume 3))

Abstract

This paper presents the prototype design of the robotic surgical instrument for minimally invasive surgery robot. For high reliability and stiffness characteristics of the instrument, it has been designed on the basis of 3-DOF (degrees of freedom) parallel robot mechanism with three identical PSR (Prismatic-Spherical-Revolute)- serial chains. Further, for the forceps grasp and axial rotational motions, it has one additional center leg. With this mechanical structure, 4-DOF motions of forceps, i.e., forceps grasp motion, 2-DOF wrist orientation, and 1-DOF axial rotation, are possible. Further, the capability of pure axial rotation of the proposed instrument forceps may enable more dexterous surgery compared to the other surgical instruments. Detailed description of the proposed me chanism is given and performance of the prototype compared to the other robotic instruments are discussed in this paper.

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Author information

Authors and Affiliations

  1. Biomedical Engineering Branch, Division of Convergence Technology, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Republic of Korea

    Man Bok Hong & Yung-Ho Jo

Authors
  1. Man Bok Hong
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  2. Yung-Ho Jo
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Editor information

Editors and Affiliations

  1. Department of Mechano-Informatics, The University of Tokyo , Japan

    Takeyoshi Dohi

  2. Department of Bioengineering, The University of Tokyo , Japan

    Hongen Liao

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© 2012 Springer Tokyo

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Hong, M.B., Jo, YH. (2012). Prototype Design of Robotic Surgical Instrument for Minimally Invasive Robot Surgery. In: Dohi, T., Liao, H. (eds) Computer Aided Surgery. Proceedings in Information and Communications Technology, vol 3. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54094-6_3

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  • DOI: https://doi.org/10.1007/978-4-431-54094-6_3

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-54093-9

  • Online ISBN: 978-4-431-54094-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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