A single port surgical robot system with novel elbow joint mechanism for high force transmission.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Dec 1, 2017

Abstract

BACKGROUND: Despite its evident clinical benefits, single-incision laparoscopic surgery (SILS) imposes inherent limitations of collision between external arms and inadequate triangulation because multiple instruments are inserted through a single port at the same time.

Authors

  • Minho Hwang
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • Un-Je Yang
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • Deokyoo Kong
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • Deok Gyoon Chung
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • June-Gi Lim
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • Dong-Ho Lee
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • Daniel H Kim
    Department of Neurosurgery, University of Texas Health Science Center at Houston, 6431 Fannin Street, Houston, TX, 77030, USA.
  • Dongsuk Shin
    Department of Neurosurgery, University of Texas Health Science Center at Houston, 6431 Fannin Street, Houston, TX, 77030, USA.
  • Taeho Jang
    Department of Neurosurgery, University of Texas Health Science Center at Houston, 6431 Fannin Street, Houston, TX, 77030, USA.
  • Jeong-Whun Kim
    Department of Otorhinolaryngology, Seoul National University Bundang Hospital, 82, Gumi-ro, Bundang-gu, Seongnam, Republic of Korea.
  • Dong-Soo Kwon
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.

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