A novel locally operated master-slave robot system for single-incision laparoscopic surgery

Horise, Yuki; Matsumoto, Toshinobu; Ikeda, Hiroki; Nakamura, Yukinori; Yamasaki, Makoto; Sawada, Genta; Tsukao, Yukiko; Nakahara, Yujiro; Yamamoto, Masaaki; Takiguchi, Shuji; Doki, Yuichiro; Mori, Masaki; Miyazaki, Fumio; Sekimoto, Mitsugu; Kawai, Toshikazu; Nishikawa, Atsushi

doi:10.3109/13645706.2014.942321

Cited by 4 publications

(6 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The commercial tool operated by the surgeon s right hand, the slave manipulator, and the endoscope were inserted through a single port. In a previous study, the slave crankcurved manipulator could be approached far from the other two instruments for manipulation in a wide eld of view [16], but the motion trajectories for the manipulator was not shown. To evaluate the new offset-bending manipulator, the manipulator was used in the following experiments.…”

Section: Experimental Methodsmentioning

confidence: 99%

“…The robotic forceps for SILS should have 5 DOFs. We previously proposed a locally operated master-slave robot system for SILS [16]. The master-slave manipulator can act as a second arm for the surgeon s left hand.…”

Section: Purposementioning

confidence: 99%

“…The exible worm mechanism in IREP [6] provides a small arm far from the single port, but designing bending pivot axes is dif cult. The crank-curved manipulator [16] also provides a small arm, but it is dif cult to design bending pivot axes far from the single port. The crank distance is short because of the high-step cylinder.…”

Section: Purposementioning

confidence: 99%

See 2 more Smart Citations

Bending Forceps Manipulator with Offset Distance for Single-port Laparoscopy

Kawai

Matsumoto

Nishikawa

et al. 2016

ABE

Self Cite

View full text Add to dashboard Cite

By integrating locally operated, small surgical robots and devices, a surgeon can perform, robotically assisted laparoscopic surgery safely and accurately. However, no locally operated robotic forceps functioning as the third arm can provide the wide eld of view and the large working area required for single-incision laparoscopic surgery (SILS). For SILS using a locally operated third arm, the pivot point should be placed far from the other three instruments inserted through the single port, and the pivot axes should be bending. Size reduction of the differential geared mechanism is dif cult. Designing bending pivot axes for the exible worm mechanism is also dif cult. Bending pivot axes are also dif cult to achieve in the crank-curved manipulator that we proposed previously as the second arm. The crank distance is short because of the high-step cylinders. The curved forceps have low accuracy because of rubber deformation. In the present study, we modi ed the crank-curved manipulator and designed a new manipulator for use as the third arm in a sterile environment, which provides offset distance using lowstep cylinders in the pivot point placed far from the other instruments, as well as bending forceps mechanisms using ball joints in the bending pivot axes. We succeeded to develop a bending forceps manipulator with offset distance as a locally operated, end-effector manipulator (offset LODEM) for use as the third arm. The operating range was 60 mm for the offset, 32 for the pitch and yaw axes, and 24 mm for the insertion/extraction axis. Positional accuracy was evaluated while performing a simulated surgical procedure. The accuracy was 0.5 mm, which is suf cient for handling organs. The manipulator successfully handled the target in the simulated surgical procedures to provide a wide eld of view and a large working area. The offset LODEM was designed to allow minimally invasive, robotically assisted surgery performed by a doctor working near the patient. This device may be used for such applications.

show abstract

Section: Experimental Methodsmentioning

confidence: 99%

Section: Purposementioning

confidence: 99%

See 1 more Smart Citation

Bending Forceps Manipulator with Offset Distance for Single-port Laparoscopy

Kawai

Matsumoto

Nishikawa

et al. 2016

ABE

Self Cite

View full text Add to dashboard Cite

show abstract

“…The second trend is the clear convergence of targeted surgical procedures for the various, independently developed surgical robotic systems. While earlier systems such as the RAVEN [104,105] was still designed for laparoscopic surgery with multiple incisions, later laparoscopic robots were all aimed for single-incision procedures [107][108][109][110][111][112][113][114][115][116]. For endoscopic alternatives, nearly all systems were aimed fully or partially at NOTES [118][119][120][121][122].…”

Section: Global Atention and Trends In Surgical Robotsmentioning

confidence: 99%

“…The success of laparoscopic and endoscopic surgical robots had stimulated worldwide atentions in surgical robot research, for instance, the laparoscopic telesurgical RAVEN robot [104,105], the Magellan endovascular robot [106], snake-like surgical robots [107,108], MRI-compatible surgical robots [109,110], single-incision laparoscopic robots [111][112][113][114][115][116], and endoscopic robots [117][118][119][120][121].…”

Section: Global Atention and Trends In Surgical Robotsmentioning

confidence: 99%

The Next-Generation Surgical Robots

Wang¹,

Liu²,

Peng³

et al. 2018

Surgical Robotics

View full text Add to dashboard Cite

The chronicle of surgical robots is short but remarkable. Within 20 years since the regulatory approval of the irst surgical robot, more than 3,000 units were installed worldwide, and more than half a million robotic surgical procedures were carried out in the past year alone. The exceptionally high speeds of market penetration and expansion to new surgical areas had raised technical, clinical, and ethical concerns. However, from a technological perspective, surgical robots today are far from perfect, with a list of improvements expected for the next-generation systems. On the other hand, robotic technologies are lourishing at ever-faster paces. Without the inherent conservation and safety requirements in medicine, general robotic research could be substantially more agile and explorative. As a result, various technical innovations in robotics developed in recent years could potentially be grafted into surgical applications and ignite the next major advancement in robotic surgery. In this article, the current generation of surgical robots is reviewed from a technological point of view, including three of possibly the most debated technical topics in surgical robotics: vision, haptics, and accessibility. Further to that, several emerging robotic technologies are highlighted for their potential applications in next-generation robotic surgery.

show abstract