Pilot study and design conceptualization for a slim single-port surgical manipulator with spring backbones and catheter-size channels

摘要

Robotic assistance in Minimally Invasive Surgery (MIS) have extended the capabilities of surgeons via improved precision dexterity and computer assistance. By tapping on the capabilities of MIS, this paper aims to design a new tendon Fixation mechanism which utilizes springs to actuate surgical tools for the removal of osseous giant cell tumor. We presents our preliminary design conceptualization and prototype development using spring backbone and tendon-driven mechanism. By investigating different tendon routing mechanisms, for the first time this study shows that it is potentially feasible to accomplish needle-size (outer diameter of 1 mm) to catheter-size (outer diameter of 2-3 mm) singlechannel surgical instruments for minimally invasive surgery. Through this mechanism, it is expected that our surgical robot can provide completeness of tumor removal through a minimal incision without compromising oncological principles.