Flexible robot with ball based spherical joint for single port laparoscopic surgery

    • This research aims to improve position accuracy of flexible robot for single port laparoscopic surgery.
    • Torsional deformation of flexible robot affects the accuracy of the flexible robot.
    • With this consideration, we are developing mechanisms preventing the torsional deformation structurally in order to improve the position accuracy of flexible robot.
    • The proposed flexible robot consists of 6 degrees of freedom (DoF), which include 2 prismatic joint and 4 revolute joint, except for grasping motion of forceps.