Portable manipulation system for commercial robotic surgery forceps.

BACKGROUND: Transition from the utilisation of traditional instruments to new robotic methodologies in surgical operations occurs rapidly. Although the implementation of these methodologies to classical surgery operations is advantageous due to increased precisions and enhanced motion capabilities of robotic systems, overall worldwide accessibility and adaptation are still limited due to high equipment costs and special infrastructure requirements. METHODOLOGY: The design of four degrees of freedom low cost, compact and portable manipulation system was proposed to allow the utilisation of commercial robotic surgery forceps like a conventional laparoscopy instrument without the necessity of bulky manipulation systems. RESULTS: The structural design of the system was carried out along with necessary kinematic and coupled motion analysis. Prototypes were constructed. Hardware verification of the system was executed using implemented control methodology. CONCLUSIONS: The proposed design successfully demonstrated the advantages of multi degree of freedom robotic surgery forceps in a portable handheld system compared to classical laparoscopy instruments.