Design and Analysis of an Articulated Single-Port Laparoscopic Surgical Device, by Rohan Katoch (GT), Yoshinori Yamakawa (NITI-ON), Jun Ueda (GT) and Hiroshi Honda (NITI-ON). This paper presents a design for an articulated single-port laparoscopic device, with manipulation in six degrees-of-freedom (DOF): three rotational DOF and three translational DOF. The general design objective is to develop a surgical device that can be intuitively controlled, while providing accurate force feedback and manipulation required for laparoscopic procedures.
Robots and people working together