Abstract

Reduction of burden on patients and surgeons is an issue in the medical field. Robotic surgery utilizing teleoperation robots is a method to realize minimally invasive surgery and support surgeons. Structure of surgical robots can be divided into robotic surgical tools and robotic platforms. Robotic platforms have multi degree of freedom (DoF) arms to mount robotic surgical tools and functions to change workspace of the end effector of robotic surgical tools by its large movable range. Therefore, large output to support robotic surgical tools, precise motion, and enough movable range are necessary for the robotic platforms. In this paper, a novel multi DoF robotic platform with two arms and a robotic surgical tool are presented. The robotic platform consists of large circular linear motors which can generate large output force and realize remote center of motion. As the robotic surgical tool, a master-slave three DoF forceps robot which has ability to transmit haptic sensation to operators is developed. In an experiment, the robotic platform with the slave of the three DoF forceps robot is teleoperated to validate the performance of the robots.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.