MU-LapaRobot: A Corporative Surgical Robot for Laparoscopic Surgery
Chawaphol Direkwatana1, Jackrit Suthakorn1, *, Chumpon Wilasrussamee2
Identifiers and Pagination:Year: 2020
First Page: 43
Last Page: 54
Publisher Id: TOBEJ-14-43
Article History:Received Date: 21/4/2020
Revision Received Date: 12/8/2020
Acceptance Date: 14/8/2020
Electronic publication date: 26/10/2020
Collection year: 2020
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: https://creativecommons.org/licenses/by/4.0/legalcode. This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
Development of surgical instrument robot (MU-LapaRobot) for assisting in conventional laparoscopic surgery.
A robot was designed based on instrument movement for a conventional procedure. The mechanism mimics and constrains manipulation movement through the wire-driven transmission. It is flexible for robot end-effector, which has a lightweight and small size. The usability of the robot is passive and active robot tasks with an interconnected driving system. Three main parts of the robot are robot end-effector, transmission, and a driving system.
On a robot platform, a parameter for setup is robot posture. The adjustment of robot position and projection of manipulation area is influenced by the accuracy of movement. To verify movement, command and exact movements are measured. Compensation with the control system is improved in order to improve the accuracy of the system.
MU-LapaRobot provides surgical instrument manipulation by using wire-driven transmission with an effective system and requires less interference in the conventional operation.