title: A single port surgical robot system with novel elbow joint mechanism for high force transmission.
abstract: BACKGROUND
  Despite its evident clinical benefits, single-incision laparoscopic surgery (SILS) imposes inherent limitations of collision between external arms and inadequate triangulation because multiple instruments are inserted through a single port at the same time.
  
  
  METHODS
  A robot platform appropriate for SILS was developed wherein an elbowed instrument can be equipped to easily create surgical triangulation without the interference of robot arms. A novel joint mechanism for a surgical instrument actuated by a rigid link was designed for high torque transmission capability.
  
  
  RESULTS
  The feasibility and effectiveness of the robot was checked through three kinds of preliminary tests: payload, block transfer, and ex vivo test. Measurements showed that the proposed robot has a payload capability >15 N with 7 mm diameter.
  
  
  CONCLUSIONS
  The proposed robot is effective and appropriate for SILS, overcoming inadequate triangulation and improving workspace and traction force capability.
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
authors.forename: Minho
authors.identifier: http://orcid.org/0000-0002-9190-7876
authors.initials: M
authors.lastname: Hwang
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
authors.forename: Un-Je
authors.initials: UJ
authors.lastname: Yang
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
authors.forename: Deokyoo
authors.initials: D
authors.lastname: Kong
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
authors.forename: Deok Gyoon
authors.initials: DG
authors.lastname: Chung
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
authors.forename: June-Gi
authors.initials: JG
authors.lastname: Lim
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
authors.forename: Dong-Ho
authors.initials: DH
authors.lastname: Lee
authors.affiliation: Department of Neurosurgery, University of Texas Health Science Center at Houston, 6431 Fannin Street, Houston, TX, 77030, USA.
authors.forename: Daniel H
authors.initials: DH
authors.lastname: Kim
authors.affiliation: Department of Neurosurgery, University of Texas Health Science Center at Houston, 6431 Fannin Street, Houston, TX, 77030, USA.
authors.forename: Dongsuk
authors.initials: D
authors.lastname: Shin
authors.affiliation: Department of Neurosurgery, University of Texas Health Science Center at Houston, 6431 Fannin Street, Houston, TX, 77030, USA.
authors.forename: Taeho
authors.initials: T
authors.lastname: Jang
authors.affiliation: Department of Otorhinolaryngology, Seoul National University Bundang Hospital, 82, Gumi-ro, Bundang-gu, Seongnam, Republic of Korea.
authors.forename: Jeong-Whun
authors.initials: JW
authors.lastname: Kim
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
authors.forename: Dong-Soo
authors.initials: DS
authors.lastname: Kwon
mesh_terms: D001696:Biomechanical Phenomena; D004867:Equipment Design; D006225:Hand / Q000502:physiology; D006801:Humans; D010535:Laparoscopy / Q000295:instrumentation; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods*; D012371:Robotics / Q000295:instrumentation*; D013193:Stainless Steel
chemical_list: D013193:Stainless Steel