A New Robotic Uterine Positioner for Laparoscopic Hysterectomy with Passive Safety Mechanisms : Design and Experiments
Refereed conference paper presented and published in conference proceedings


全文

引用次數

其它資訊
摘要In this paper, we present a new robotic uterine positioner for total laparoscopic hysterectomy. The robot is designed to actively position the patient's uterus during surgery, a lengthy and tedious task that is traditionally performed by a human assistant. Safety is simply the most important concern when developing robots for surgical purposes; we address this concern in the design of our robot from a mechanical perspective. To this end, we develop a 3-DOF robotic uterine positioner with an in-body remote center of motion (RCM); this key feature allows to prevent injuries to the patient when large motions occur at the cervix. A linearly-actuated arc-guided RCM mechanism is introduced to guarantee the rigidity and stability of the robot; The system's design allows to manipulate the uterus in a decoupled manner, thus control complexity can be reduced. Passive safety mechanisms are also implemented in all DOF of the robot in order to limit the interaction forces with the patient. Experiments, including an ex-vivo test conducted with cadaver, are conducted to verify the robot's performance.
著者Yip HM, Wang ZR, Navarro-Alarcon D, Li P, Liu YH, Cheung TH
會議名稱IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
會議開始日28.09.2015
會議完結日02.10.2015
會議地點Hamburg
會議國家/地區德國
出版年份2015
月份1
日期1
出版社IEEE
頁次3188 - 3194
電子國際標準書號978-1-4799-9994-1
國際標準期刊號2153-0858
語言英式英語
Web of Science 學科類別Computer Science; Computer Science, Artificial Intelligence; Robotics

上次更新時間 2020-25-11 於 00:29