Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery

Abstract

This paper outlines the design of a reconfigurable, partially disposable, tendon-driven robotic arm for providing assistance in laparoscopic surgery. The rationale for its development and design objectives are provided, followed by a description of its mechanical design. Kinematic simulations to assess workspace are presented, and a first-stage assessment of the functionality of a prototype using a custom test bench is also included.