A new robotic uterine positioner for laparoscopic hysterectomy with passive safety mechanisms: Design and experiments

Hiu Man Yip, Zerui Wang, David Navarro Alarcon, Peng Li, Yun Hui Liu, Tak Hong Cheung

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

9 Citations (Scopus)


In this paper, we present a new robotic uterine positioner for total laparoscopic hysterectomy. The robot is designed to actively position the patient's uterus during surgery, a lengthy and tedious task that is traditionally performed by a human assistant. Safety is simply the most important concern when developing robots for surgical purposes; we address this concern in the design of our robot from a mechanical perspective. To this end, we develop a 3-DOF robotic uterine positioner with an in-body remote center of motion (RCM); this key feature allows to prevent injuries to the patient when large motions occur at the cervix. A linearly-actuated arc-guided RCM mechanism is introduced to guarantee the rigidity and stability of the robot; The system's design allows to manipulate the uterus in a decoupled manner, thus control complexity can be reduced. Passive safety mechanisms are also implemented in all DOF of the robot in order to limit the interaction forces with the patient. Experiments, including an ex-vivo test conducted with cadaver, are conducted to verify the robot's performance.
Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages7
ISBN (Electronic)9781479999941
Publication statusPublished - 11 Dec 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Congress Center Hamburg (CCH), Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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