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In this paper, we present a modeling and control method for a single-port access robot developed by our robotics group at the Samsung Advanced Institute of Technology. The surgical robot consists of a snake-like 6-degree-of-freedom (DOF) guide tube, two 7-DOF tools, a 3-DOF stereo camera, and a 5-DOF slave arm. The robot is capable of reaching various surgical sites inside the abdominal cavity from...
In robotic single-port surgery, it is desirable for a manipulator to exhibit the property of variable stiffness. Small-port incisions may require both high flexibility of the manipulator for safety purposes, as well as high structural stiffness for operational precision and high payload capability. This paper presents a new hyperredundant tubular manipulator with a variable neutral-line mechanisms...
In this paper, tension propagation analysis of a newly designed multi-DOF robotic platform for single-port access surgery (SPS) is presented. The analysis is based on instantaneous kinematics of the proposed 6-DOF surgical instrument, and provides the decision criteria for estimating the payload of a surgical instrument according to its pose changes and specifications of a driving-wire. Also, the...
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