Development of a novel mechanism for minimally invasive surgery

摘要

Minimally invasive surgery (MIS) has many advantages compared with the open surgery, but there are still many drawbacks in performing this kind of surgery. To overcome the problems, robotic technologies have been integrated. The surgical robotic systems can enhance the dexterity, provide high accuracy, do not affect by the fatigue, and have the possibility of remote operation. These advantages make the difficult procedures feasible. In order to increase the diversity of the MIS robots, a novel mechanism for MIS is proposed in this paper. The robot satisfies the incision point constraints of the MIS via the special designed mechanism, and it is expected to improve the performance in some aspects of the commercial robots. The simulation and experiments results show that the robot can increase the dexterity and can satisfy force requirements in MIS.