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Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single‐site surgery (LESS)
Author(s) -
Wang Jianchen,
Wang Shuxin,
Li Jinhua,
Ren Xiangyun,
Briggs Randall Miller
Publication year - 2018
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1838
Subject(s) - stiffness , payload (computing) , robotic arm , computer science , kinematics , simulation , robot , surgical robot , robotic surgery , control theory (sociology) , engineering , artificial intelligence , control (management) , structural engineering , physics , computer network , classical mechanics , network packet
Background For current LESS robotic systems, the trade‐off between dexterity and payload capability is always present. This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms. Methods Each manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7‐DoF compliant status and 5‐DoF rigid status according to the operation requirement. Screw theory and product exponential formula are used to quantify the kinematic performance. Results The stiffness of the manipulation arm promotes 3.03 to 4.12 times from compliant to rigid CSCS with maximum payload of 10 N in rigid status. The shortest rigid/compliant switching time is 5 s. The precision of a tracking test and an ex vivo procedure verified the accuracy and effectiveness of the controllable stiffness manipulation arms. Conclusions This robot could potentially improve the surgical performance and further expand robotic LESS procedures.