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

摘要

Abstract Background 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.