Abstract
We developed a master-slave robot system assisting minimally invasive abdominal surgery. It realized a large working space and compact mechanism. The slave robot consisted of three modules; manipulator-positioning arm, forceps manipulator, bending forceps with 2 DOFs. Manipulator-positioning arm had 6 DOF. Each DOF was passive and had only pneumatic-drive braking mechanism. The system was designed so that three manipulators are operated cooperatively. Thus, the three positioning arms were mounted at the suspending device. We integrated the sophisticated forceps such as bending forceps, bipolar electric cautery, and semiconductor laser forceps, which can create the next generation of surgery. We also developed a novel wide angle-view laparoscope using two wedge prisms. It was compact and safe because it did not require moving or bending to move the view. The robot is controlled by a surgeon using a master manipulator system developed by Mitsuishi et al. Each DOF had enough working range and satisfactory performance in experiments simulating clinical environment.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Hashimoto D (1995) Advanced Technique in Gasless Laparoscopic Surgery. World Scientific
Kobayashi Y, et al. (2002) Small Occupancy Robotic Mechanisms for Endoscopic Surgery. Proc. of 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-MICCAI2002 (I), pp75–82
Kim D, et al (2002): A new, compact MR-compatible Surgical Manipulator for minimally invasive liver surgery, Proc. of MICCAI2002 (I), pp99–106
Suzuki T, et al (2004) Development of forceps manipulator for assisting laparoscopic surgery, CARS2004-Computer assisted radiology and surgery, Proc. of the 18th International congress and exhibition, pp.1338
K. Nishizawa, et al. (2004) Development of Interference-Free Wire-Driven Joint Mechanism for Surgical Manipulator Systems, Journal of Robotics and Mechatronics, Vol.16, No.2, pp 116–121
Yamashita Y, et al (2003) Multi-Slider Linkage Mechanism for Endoscopic Forceps Manipulator, in Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Vol.3, pp2577–2582
Suzuki T, et al (2004): Development of a Robotic Laser Surgical Tool with an Integrated Video Endoscope, Proc. of 7th MICCAI, Lecture Note in Computer Science 3217, Springer, pp25–32
Suzuki T, et al (2003) Basic Study for automatic ligation and resection of bile duct with electric cautery, Journal of Japan Society of Computer Aided Surgery Vol.5, No.3, pp197–198
Taylor RH et al (1995) Telerobotic Assistant for Laparoscopic Surgery. Computer Integrated Surgery: The MIT Press, pp581–592
Sackier JM, Wang Y (1995): Robotically Assisted Laparoscopic Surgery: From Concept to Development. Computer Integrated Surgery: The MIT Press, pp577–580
Finlay PA, Ornstein MH (1995): Controlling the Movement of a Surgical Laparoscope. IEEE Engineering in Medicine and Biology Vol.14, pp289–299
Hashimoto T et al (2004) Development of a Wide-angle View Laparoscope using Wedge Prisms, Journal of Robotics and Mechatronics 16(2): pp129–137
Kobayashi E et al (1999) A New Safe Laparoscopic Manipulator System with a Five-Bar Linkage Mechanism and an Optical Zoom Journal of Computer Aided Surgery, 4(4), pp182–192
Mitsuishi M, et al (2003) Development of a Remote Minimally-Invasive Surgical System with Operational Environment Transmission Capability, Proc. of the 2003 IEEE International Conference on Robotics and Automation, pp2663–2670
E. Aoki et al (2004) System Design for Implementing Distributed Modular Architecture to Relaible Surgical Robotic System, Proceedings of 7th International conference, Medical Image Computing and Computer-Assisted Intervention-MICCAI 2004, Part II, Lecture Note in Computer Science 3217, pp 184–191
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer
About this chapter
Cite this chapter
Sakuma, I. et al. (2007). Robotic System for Less Invasive Abdominal Surgery. In: Wu, J.L., Ito, K., Tobimatsu, S., Nishida, T., Fukuyama, H. (eds) Complex Medical Engineering. Springer, Tokyo. https://doi.org/10.1007/978-4-431-30962-8_12
Download citation
DOI: https://doi.org/10.1007/978-4-431-30962-8_12
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-30961-1
Online ISBN: 978-4-431-30962-8
eBook Packages: EngineeringEngineering (R0)