Robot-assisted laparoscopic radical prostatectomy (RARP) is widely used to treat prostate cancer. The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma such as more incision for the passage of the instrument and additional tissue damage caused by rigid instruments. Soft robots are relatively flexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument. A soft robot system for single-port transvesical robot-assisted radical prostatectomy (STvRARP) is developed in this study. The soft manipulator with 10 mm in diameter and a maximum bending angle of 270? has good flexibility and dexterity. The design and mechanical structure of the soft robot are described. The kinematics of the soft manipulator is established and the inverse kinematics is compensated based on the characteristics of the designed soft manipulator. The master-slave control system of soft robot for surgery is built and the feasibility of the designed soft robot is verified.
LI Ru1 (李茹), CHEN Fang2 (陈方), YU Wenwei3 (俞文伟), IGARASH Tatsuo3,4,
SHU Xiongpeng1 (舒雄鹏), XIE Le1,5,6∗ (谢叻)
. A Novel Cable-Driven Soft Robot for Surgery[J]. Journal of Shanghai Jiaotong University(Science), 2024
, 29(1)
: 60
-72
.
DOI: 10.1007/s12204-022-2497-3
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