A new type of single-arm single-port micro-trauma laparoscopic surgery robot

Abstract

Abstract As the robot-assisted single-port surgery gets more attention, we proposed a novel single-arm single-port micro-traumatic laparoscopic surgery robot system with multiple innovative techniques. From a mechanical perspective, joints with high rigidity and reliability were used to realize the remote center of motion. The cost of consumables was reduced by adding the support of a rigid endoscope. From the algorithm perspective, a high-precision motion control method and feedback-force protection mechanism were implemented. The effectiveness of the aforementioned characteristics was verified by 10 clinical cholecystectomy experiments. The results showed that the system can reduce the amount of bleeding, accelerate patient recovery, reduce infection risk, and shorten the learning period. Other gynecology and urology clinical trials using the new surgery robot are underway. The proposed surgery robot system had significant clinical application value.