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Configuration comparison among kinematically optimized continuum manipulators for robotic surgeries through a single access port

Published online by Cambridge University Press:  29 April 2014

Kai Xu ,
Jiangran Zhao  and
Xidian Zheng
Kai Xu*
Affiliation:
RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China
Jiangran Zhao
Affiliation:
RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China
Xidian Zheng
Affiliation:
RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China
*
*Corresponding author: E-mail: k.xu@sjtu.edu.cn
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Summary

Many recent developments of surgical robots focus on less invasive paradigms, such as laparoscopic SPA (Single Port Access) surgery, NOTES (Natural Orifice Translumenal Endoscopic Surgery), laryngoscopic MIS (Minimally Invasive Surgery), etc. A configuration similarity shared by these surgical robots is that two or more manipulators are inserted through one access port (a laparoscope, an endoscope, or a laryngoscope) for surgical interventions. However, upon designing such a surgical robot, the structure of the inserted manipulators has not been thoroughly explored based on evaluation of their performances. This paper presents a comparison for kinematic performances among three different continuum manipulators. They all could be applied in the aforementioned surgical robots. The structural parameters of these continuum manipulators are firstly optimized to assure a more fair and consistent comparison. This study is conducted in a dimensionless manner and provides scalable results for a wide spectrum of continuum manipulator designs as long as their segments have a constant curvature. The results could serve as a design reference for future developments of surgical robots which use one access port and continuum mechanisms.

Keywords

Continuum manipulatorKinematicsWorkspaceKinematic performanceSurgical robots

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Type
Articles
Information
Robotica , Volume 33 , Issue 10 , December 2015 , pp. 2025 - 2044
Copyright
Copyright © Cambridge University Press 2014 

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