Abstract
Surgical Robotic Arm with Pneumatic Semi-active Joints for Load Reduction on Tool-insertion Port
Highlights
Laparoscopic surgical technology using a surgical robot has markedly developed
With its remote center of motion (RCM) kept passively, we examined whether the arm can reduce external forces on the insertion port by using semi-active joints
The insertion port is on a free gimbal joint that can freely rotate in the roll and pitch directions
Summary
Laparoscopic surgical technology using a surgical robot has markedly developed. The surgical instruments (i.e., forceps) are inserted into the insertion port. The robot is required to move while maintaining its remote center of motion (RCM) using the insertion port as a fulcrum. There are mainly three methods of dealing with the insertion port. The first method is that the robot mechanically maintains a fixed point by the RCM mechanism. It has been adopted in many surgical robots such as the da Vinci Surgical System[1] developed by Intuitive Surgical and IBIS IV[2] by Tadano et al With this RCM mechanism, ISSN 0914-4935 © MYU K.K. https://myukk.org/
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