Mechanism of a learning robot manipulator for laparoscopic surgical training

Tao Yang; Jiang Liu; Weimin Huang; Liangjing Yang; Chee Kong Chui; Marcelo H. Ang; Yi Su; Stephen K.Y. Chang

doi:10.1007/978-3-642-35485-4_25

Mechanism of a learning robot manipulator for laparoscopic surgical training

Tao Yang, Jiang Liu, Weimin Huang, Liangjing Yang, Chee Kong Chui, Marcelo H. Ang, Yi Su, Stephen K.Y. Chang

Research output: Chapter in Book/Conference proceeding › Book Chapter › peer-review

7 Citations (Scopus)

Abstract

This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the novice based on the recorded motion. The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction.

Original language	English
Title of host publication	Frontiers of Intelligent Autonomous Systems
Publisher	Springer Verlag
Pages	297-308
Number of pages	12
ISBN (Print)	9783642354847
DOIs	https://doi.org/10.1007/978-3-642-35485-4_25
Publication status	Published - 2013
Externally published	Yes

Publication series

Name	Studies in Computational Intelligence
Volume	466
ISSN (Print)	1860-949X

Keywords

Laparoscopy
Robot manipulator
Surgical training

ASJC Scopus subject areas

Artificial Intelligence

Access to Document

10.1007/978-3-642-35485-4_25

Cite this

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abstract = "This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the novice based on the recorded motion. The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction.",

keywords = "Laparoscopy, Robot manipulator, Surgical training",

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AU - Yang, Tao

AU - Liu, Jiang

AU - Huang, Weimin

AU - Yang, Liangjing

AU - Chui, Chee Kong

AU - Ang, Marcelo H.

AU - Su, Yi

AU - Chang, Stephen K.Y.

PY - 2013

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AB - This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the novice based on the recorded motion. The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction.

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Mechanism of a learning robot manipulator for laparoscopic surgical training

Abstract

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Keywords

ASJC Scopus subject areas

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