Abstract
This paper presents the development of a modular robotic laparoscopic tool for MIS (Minimally Invasive Surgery). A dual continuum mechanism is utilized in the tool design to ensure reliability as well as achieve enhanced distal dexterity, increased payload capability and actuation modularity under a simple construction. Via kinematics modeling, the laparoscopic tool could be maneuvered by a Denso manipulator to perform typical laparoscopic tasks and possesses the desired functionalities for MIS. Advantages of the implemented dual continuum mechanism lead to the performances of this attempt. Motivated by the commercial success of the da Vinci surgical system, this paper presents an alternative design to realize robotic laparoscopic surgeries, which could lead to possible future commercialization opportunities.
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Acknowledgments
This work was supported in part by the National Natural Science Foundation of China (Grant No. 51435010 and Grant No. 51375295), and in part by the Shanghai Jiao Tong University Interdisciplinary Research Funds (Grant No. YG2013MS26).
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Xu, K., Zhang, H., Zhao, J., Dai, Z. (2017). Design of a Robotic Laparoscopic Tool with Modular Actuation. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_26
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DOI: https://doi.org/10.1007/978-3-319-65292-4_26
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