A single port surgical robot system with novel elbow joint mechanism for high force transmission

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dc.contributor.authorHwang, Minhoko
dc.contributor.authorYang, Un Jeko
dc.contributor.authorKong, DukYooko
dc.contributor.authorChung, Duck Gyoonko
dc.contributor.authorLim, June-giko
dc.contributor.authorLee, Dong-Hoko
dc.contributor.authorKim, Daniel Hko
dc.contributor.authorShin, Dongsukko
dc.contributor.authorJang, Taehoko
dc.contributor.authorKim, Jeong-Whunko
dc.contributor.authorKwon, Dong-Sooko
dc.date.accessioned2018-01-22T02:07:13Z-
dc.date.available2018-01-22T02:07:13Z-
dc.date.created2017-06-28-
dc.date.created2017-06-28-
dc.date.issued2017-03-
dc.identifier.citationINTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, v.13, no.4-
dc.identifier.issn1478-5951-
dc.identifier.urihttp://hdl.handle.net/10203/237217-
dc.description.abstractBackground: Despite its evident clinical benefits, single-incision laparoscopic surgery (SILS) imposes inherent limitations of collision between external arms and inadequate triangulation because multiple instruments are inserted through a single port at the same time. Methods: A robot platform appropriate for SILS was developed wherein an elbowed instrument can be equipped to easily create surgical triangulation without the interference of robot arms. A novel joint mechanism for a surgical instrument actuated by a rigid link was designed for high torque transmission capability. Results: The feasibility and effectiveness of the robot was checked through three kinds of preliminary tests: payload, block transfer, and ex vivo test. Measurements showed that the proposed robot has a payload capability >15 N with 7 mm diameter. Conclusions: The proposed robot is effective and appropriate for SILS, overcoming inadequate triangulation and improving workspace and traction force capability.-
dc.languageEnglish-
dc.publisherWILEY-BLACKWELL-
dc.subjectLAPAROSCOPIC SURGERY-
dc.subjectPLATFORM-
dc.titleA single port surgical robot system with novel elbow joint mechanism for high force transmission-
dc.typeArticle-
dc.identifier.wosid000416955800012-
dc.identifier.scopusid2-s2.0-85036509355-
dc.type.rimsART-
dc.citation.volume13-
dc.citation.issue4-
dc.citation.publicationnameINTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY-
dc.identifier.doi10.1002/rcs.1808-
dc.contributor.localauthorKwon, Dong-Soo-
dc.contributor.nonIdAuthorLim, June-gi-
dc.contributor.nonIdAuthorKim, Daniel H-
dc.contributor.nonIdAuthorShin, Dongsuk-
dc.contributor.nonIdAuthorJang, Taeho-
dc.contributor.nonIdAuthorKim, Jeong-Whun-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
dc.subject.keywordPlusLAPAROSCOPIC SURGERY-
dc.subject.keywordPlusPLATFORM-
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