Single-Port Surgical Robot System With Flexible Surgical Instruments

This paper presents a new novel SINGLE-PORT access surgery (SPS) robot system. This surgical robot is composed of a surgical slave robot with flexible surgical instruments and an ergonomic master device with an image guided system. This surgical slave robot has a six-degrees-of-freedom (6DOF) guide tube, two 7-DOF surgical tools, a 3-DOF stereo-endoscope and a 5-DOF slave arm high. The master device has a 14-DOF ergonomic instrument controller and a three-dimentional image guided system. Therefore, the operator can approach surgical instruments to the target with various poses through the master console. The experimental results for surgical operations shows the feasibility of this robot in the field of robotic surgery through single-port.