Design and analysis of a robotic articulating laparoscopic instrument end effector

• Main Author: Munsayac, Francisco Emmanuel T., III
• Format: text
• Language: English
• Published: Animo Repository 2019
• Subjects: Surgical robots; Robot hands; Laparoscopic surgery—Equipment and supplies; Manufacturing
• Online Access: https://animorepository.dlsu.edu.ph/etd_masteral/6392; https://animorepository.dlsu.edu.ph/context/etd_masteral/article/13429/viewcontent/THESIS_MUNSAYAC_11699280_edited2.pdf
• Institution: De La Salle University

Laparoscopic Surgery is the golden standard in surgery. It has the benefits of shorter recovery time and less scaring. The problem with laparoscopy though is that it poses surgeons on very awkward movements and positions. This causes them musculoskeletal problems. Robotic Surgery solutions solves these problems but are too expensive. There are previous study that developed S.A.L.I. In this study, It would design end effectors that would fit on the joint articulation of SALI. It would also developed a robotic arm that could handle it and give it additional movement. The study successfully developed a cauterizer, clip applicator, clip, and a robotic arm. The grasper of SALI is also analyzed together with other end effectors. It concluded that all the designed end effectors can do an operation. The robotic arm was also successfully designed with a RCM mechanism to create a pitch and yaw movement necessary for a laparoscopic surgery. It was also successfully prototyped through a 3D printer to check the mechanisms. It is recommended for future studies that theses designs be prototyped.