Design of a Laparoscopic Robot System Based on Spherical Magnetic Field
In single incision laparoscopic surgery (SILS), because the laparoscope and other surgical instruments share the same incision, the interferences between them constrain the dexterity of surgical instruments and affect the field of views of the laparoscope. Inspired by the structure of the spherical...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/9/10/2070 |
| _version_ | 1818310774809952256 |
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| author | Hongxing Wei Kaichao Li Dong Xu Wenshuai Tan |
| author_facet | Hongxing Wei Kaichao Li Dong Xu Wenshuai Tan |
| author_sort | Hongxing Wei |
| collection | DOAJ |
| description | In single incision laparoscopic surgery (SILS), because the laparoscope and other surgical instruments share the same incision, the interferences between them constrain the dexterity of surgical instruments and affect the field of views of the laparoscope. Inspired by the structure of the spherical motor and the driving method of an intraocular micro robot, a fully inserted laparoscopic robot system is proposed, which consists of an inner laparoscopic robot and external driving device. The position and orientation control of the inner laparoscopic robot are controlled by a magnetic field generated by the driving device outside the abdominal wall. The instrumental interferences can be alleviated and better visual feedback can be obtained by keeping the laparoscopic robot away from the surgical incision. To verify the feasibility of the proposed structure and explore its control method, a prototype system is designed and fabricated. The electromagnetism model and the mechanical model of the laparoscopic robot system are established. Finally, the translational, rotational, and deflection motion of the laparoscopic robot are demonstrated in practical experiment, and the accuracy of deflection motion of the laparoscopic robot is verified in open-loop condition. |
| first_indexed | 2024-12-13T07:51:25Z |
| format | Article |
| id | doaj.art-9cdb63eca33e48d7a5d7ea27ff0ee810 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-13T07:51:25Z |
| publishDate | 2019-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-9cdb63eca33e48d7a5d7ea27ff0ee8102022-12-21T23:54:40ZengMDPI AGApplied Sciences2076-34172019-05-01910207010.3390/app9102070app9102070Design of a Laparoscopic Robot System Based on Spherical Magnetic FieldHongxing Wei0Kaichao Li1Dong Xu2Wenshuai Tan3School of Mechanical Engineering & Automation, BeiHang University, Beijing 100083, ChinaSchool of Mechanical Engineering & Automation, BeiHang University, Beijing 100083, ChinaSchool of Automation Science & Electrical Engineering, BeiHang University, Beijing 100083, ChinaSchool of Mechanical Engineering & Automation, BeiHang University, Beijing 100083, ChinaIn single incision laparoscopic surgery (SILS), because the laparoscope and other surgical instruments share the same incision, the interferences between them constrain the dexterity of surgical instruments and affect the field of views of the laparoscope. Inspired by the structure of the spherical motor and the driving method of an intraocular micro robot, a fully inserted laparoscopic robot system is proposed, which consists of an inner laparoscopic robot and external driving device. The position and orientation control of the inner laparoscopic robot are controlled by a magnetic field generated by the driving device outside the abdominal wall. The instrumental interferences can be alleviated and better visual feedback can be obtained by keeping the laparoscopic robot away from the surgical incision. To verify the feasibility of the proposed structure and explore its control method, a prototype system is designed and fabricated. The electromagnetism model and the mechanical model of the laparoscopic robot system are established. Finally, the translational, rotational, and deflection motion of the laparoscopic robot are demonstrated in practical experiment, and the accuracy of deflection motion of the laparoscopic robot is verified in open-loop condition.https://www.mdpi.com/2076-3417/9/10/2070single incision laparoscopic surgerymagnetic fieldlaparoscopic robotmathematical modelingelectromagnetic simulation |
| spellingShingle | Hongxing Wei Kaichao Li Dong Xu Wenshuai Tan Design of a Laparoscopic Robot System Based on Spherical Magnetic Field Applied Sciences single incision laparoscopic surgery magnetic field laparoscopic robot mathematical modeling electromagnetic simulation |
| title | Design of a Laparoscopic Robot System Based on Spherical Magnetic Field |
| title_full | Design of a Laparoscopic Robot System Based on Spherical Magnetic Field |
| title_fullStr | Design of a Laparoscopic Robot System Based on Spherical Magnetic Field |
| title_full_unstemmed | Design of a Laparoscopic Robot System Based on Spherical Magnetic Field |
| title_short | Design of a Laparoscopic Robot System Based on Spherical Magnetic Field |
| title_sort | design of a laparoscopic robot system based on spherical magnetic field |
| topic | single incision laparoscopic surgery magnetic field laparoscopic robot mathematical modeling electromagnetic simulation |
| url | https://www.mdpi.com/2076-3417/9/10/2070 |
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