RESEARCH ARTICLE


MU-LapaRobot: A Corporative Surgical Robot for Laparoscopic Surgery



Chawaphol Direkwatana1, Jackrit Suthakorn1, *
iD
, Chumpon Wilasrussamee2
1 Department of Biomedical Engineering, Center for Biomedical and Robotics Technology (BART LAB), Faculty of Engineering, Mahidol University, Salaya, Thailand
2 Department of Surgery, Faculty of Medicine Ramathibodi Hospital, Mahidol University, Bangkok, Thailand


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Creative Commons License
© 2020 Direkwatana et al.

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.

* Address correspondence to this author at the Center for Biomedical and Robotics Technology (BART LAB) Department of Biomedical Engineering, Faculty of Engineering Mahidol University, Salaya, Thailand; Tel: +662-441-4255; Fax: +662-441-4254; E-mail:jackrit.sut@mahidol.ac.th; jackrit@bartlab.org


Abstract

Objective:

Development of surgical instrument robot (MU-LapaRobot) for assisting in conventional laparoscopic surgery.

Methods:

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.

Results:

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.

Conclusion:

MU-LapaRobot provides surgical instrument manipulation by using wire-driven transmission with an effective system and requires less interference in the conventional operation.

Keywords: Minimally Invasive Surgery (MIS), Laparoscopic surgery, MU-LapaRobot, Medical robotics, Surgical robotics, Wire-driven transmission.