Design of a Dexterous and Compact Laparoscopic Assistant Robot

摘要

Laparoscopic surgery is a surgical approach that is performed with special surgical tools and a laparoscope. Due to its minimally invasive nature, there have been many attempts to improve its performance by applying robotics technology. In this paper, a 5-DOF laparoscopic assistant robot system with a bending mechanism is presented. A representative feature of this robotic system is that it has increased workspace to perform various laparoscopic surgeries. In addition, the proposed system can provide internal views with different perspectives. The system is expected to have sufficient safety features and an easy to sterilize mechanism for applications in various laparoscopic surgeries