Single-Port Surgical Robot System with Flexible Surgical Instruments
Single-Port Surgical Robot System with Flexible Surgical Instruments
复制标题
具有灵活手术器械的单端口手术机器人系统
DOI：
10.1007/978-3-319-22876-1_38
复制
发表时间：
2015
影响因子：
2.4
通讯作者：
Yong
中科院分区：
文献类型：
--
作者：
K. Roh;Sukjune Yoon;Youngdo Kwon;Y. Shim;Yong
本文介绍了一种新型的单端口手术机器人系统。该手术机器人由具有柔性手术器械的手术从机器人和具有图像引导系统的人机工程学主设备组成。该手术从手机器人具有6自由度导管、2个7自由度手术工具、3自由度立体内窥镜和5自由度从臂高。主设备具有14自由度人机工程学仪器控制器和三维图像引导系统。因此，操作者可以通过主控制台以各种姿势将手术器械接近目标。手术实验结果表明了该机器人在单端口机器人手术领域的可行性。
This paper presents a new novel SINGLE-PORT access surgery (SPS) robot system. This surgical robot is composed of a surgical slave robot with flexible surgical instruments and an ergonomic master device with an image guided system. This surgical slave robot has a six-degrees-of-freedom (6-DOF) guide tube, two 7-DOF surgical tools, a 3-DOF stereo-endoscope and a 5-DOF slave arm high. The master device has a 14-DOF ergonomic instrument controller and a three-dimentional image guided system. Therefore, the operator can approach surgical instruments to the target with various poses through the master console. The experimental results for surgical operations shows the feasibility of this robot in the field of robotic surgery through single-port.