In endoscopic surgery, the ability to guide the instrument is significantly decreased compared with open surgery. Rigid laparoscopic instruments offer only four of the six degrees of freedom required for the free handling of objects in space. Robotics technology can be used to restore full mobility of the endoscopic instrument. Therefore, we designed a master-slave manipulator system (ARTEMIS) for laparoscopic surgery as a prototype. The system consists of two robotic arms holding two steerable laparoscopic instruments. These two work units are controlled from a console equipped with two master arms operated by the surgeon. The systems and its components were evaluated experimentally. Laparoscopic manipulations were feasible with the ARTEMIS system. The placement of ligatures and sutures and the handling of catheters were possible in phantom models. The surgical practicability of the system was demonstrated in animal experiments. We conclude that robotic manipulators are feasible for experimental endoscopic surgery. Their clinical application requires further technical development.
The assistance received by the surgeon from support personnel during surgical laparoscopy is extremely important. This includes the retracting of instruments and the positioning of the endoscope. However, human assistance is costly and often does not provide satisfaction for the surgeon. The aim of the project was to develop a mechanical arm capable of manipulating a laparoscopic instrument under the control of the operating surgeon. The system design is based on a particular kinematic construction that maintains an invariant point of constraint motion coincident with the trocar puncture site through the abdominal wall. The guidance system allows transparent and intuitive operation, and its setup is easy and quick. It may be adapted either as an instrument retractor or as an optic positioning device. A new generation of instrument positioning systems, with improved ergonomy, will be a first step toward the diffusion of solo surgery techniques in minimally invasive therapy. We believe this prototype represents a valid compromise between human and robotic control for conventional laparoscopic instruments.
A concept of a telemanipulator for laparoscopic surgery is presented in this paper. It enatbles endoscopic handling of surgical effectors and cameras inside the abdominal cavity with six degrees of freedom of motion through a trocar tube with 12 mm in diameter. The kinematical structure consists of fourteen axes articulated by six electrical servo drives.
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