Stackable 4-BAR Manipulators for Single Port Access Surgery

  title={Stackable 4-BAR Manipulators for Single Port Access Surgery},
  author={Hoyul Lee and Youngjin Choi and Byung-Ju Yi},
  journal={IEEE/ASME Transactions on Mechatronics},
This paper proposes a new robotic manipulator using stack able 4-BAR mechanisms for single port access (SPA) surgery where the operation is performed by inserting multiple manipulators through one small body cavity. The proposed manipulator has the advantage that all actuators are able to be separated from the driving mechanism. In other words, it is possible to separate the electrical actuators from the mechanical linkage/joint components in the manipulators. Thus, the robotic manipulators… CONTINUE READING