Abstract
The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism, namedDionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM) that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.
Highlights
A major progress in abdominal surgery has occurred during the last decades with the introduction of laparoscopic and minimally invasive techniques
The great majority of single incision laparoscopy currently performed, is carried out through the umbilicus with penetration of the abdominal wall, by the umbilical midline. Such an approach might lead to a deformed umbilicus, whose integrity and appearance is considered to be extremely important for many patients [3, 14], and to an increased rate of incisional hernias after the procedure [26]
The surface of each sphere represents the range of motion of distal end of one of the limbs when point Bn is located at a known position
Summary
A major progress in abdominal surgery has occurred during the last decades with the introduction of laparoscopic and minimally invasive techniques. Since many gastrointestinal operations involve operating in at least two abdominal quadrants, the repeated disconnection and movement of the robots increase significantly the duration of the surgical procedure Another drawback of current surgical systems is related to the mechanisms that hold and place the surgical instruments into the abdomen, remaining external to the patient. Their access within the abdomen is limited since the instruments are constrained by the abdominal wall at their point of entry. The proposed manipulator design will contribute to increase the precision and stability of abdominal surgical procedures, increasing their reliability This is possible taking into account the performance of its parallel structure.
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