A single port laparoscopic surgery robot with high force transmission and a large workspace

Byungsik Cheon, Erkin Gezgin, Dae Keun Ji, Morimasa Tomikawa, Makoto Hashizume, Hong Jin Kim, Jaesung Hong

Research output: Contribution to journalArticlepeer-review

27 Citations (Scopus)


Introduction: This study presents the design of a novel single port laparoscopic surgery robot that is actuated by plate-spring-driven mechanisms with high force transmission and a larger workspace. Many ongoing studies aim to develop robotic single port laparoscopic surgery platforms due to the potential advantages in terms of a short recovery period and fewer postoperative scars. Most of these investigations of single port access have focused on resolving the inconvenient maneuverability of manual single port laparoscopic surgery. However, drive mechanism structures are another requirement. Materials and Methods: Most of the existing robotic platforms cannot transmit sufficient force, as many of them use wire-driven mechanisms, which are prone to mechanical deformation that also negatively affects the accuracy of the end effector. In addition, even the best-known laparoscopic surgical robot system has instruments with a limited workspace for single port laparoscopic surgery. Therefore, the purpose of this study was to propose a novel robotic single port laparoscopic surgery platform that uses plate springs to transmit higher forces during tissue handling. Results and Conclusion: Compared to wire- or link-driven mechanisms, the plate-spring mechanism provided surpassing force transmission, with >14 N force transmission achieved, which enables most laparoscopic surgery with single port access. In addition, the high degree of freedom structure of the proposed design permitted an expanded workspace, which might be the most competitive characteristic among the single port systems reported to date.

Original languageEnglish
Pages (from-to)2719-2729
Number of pages11
JournalSurgical endoscopy
Issue number9
Publication statusPublished - Sep 2014

All Science Journal Classification (ASJC) codes

  • Surgery


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