title: Development of the SAIT single-port surgical access robot--slave arm based on RCM mechanism.
abstract: An innovative single-port surgical robot has recently been developed by the Samsung Advanced Institute of Technology (SAIT). The robot can reach various surgical sites inside the abdominal cavity from a single incision on the body. It has two 7-DOF surgical tools, a 3-DOF endoscope, a flexible hyper-redundant 6-DOF guide tube, and a 6-DOF manipulator. This paper primarily focuses on the manipulator, called a slave arm, which is capable of setting the location of a Remote Center Motion (RCM) point. Because the surgical tools can explore the abdominal area through a small incision point when the RCM point is aligned with the incision area, the RCM mechanism is an integral part of the manipulator for single-port surgery. The mechanical feature, operational principle, control method, and the system architecture of the slave arm are introduced in this paper. In addition, manipulation experiments conducted validate its efficacy.
authors.forename: Se-gon
authors.initials: SG
authors.lastname: Roh
authors.forename: Younbaek
authors.initials: Y
authors.lastname: Lee
authors.forename: Jongwon
authors.initials: J
authors.lastname: Lee
authors.forename: Taesin
authors.initials: T
authors.lastname: Ha
authors.forename: Taejun
authors.initials: T
authors.lastname: Sang
authors.forename: Kyung-Won
authors.initials: KW
authors.lastname: Moon
authors.forename: Minhyong
authors.initials: M
authors.lastname: Lee
authors.forename: Jung-yun
authors.initials: JY
authors.lastname: Choi
mesh_terms: D000005:Abdomen / Q000601:surgery*; D004867:Equipment Design; D006801:Humans; D009038:Motion; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods*