Development of a functional model for a master–slave combined manipulator for laparoscopic surgery

Hand‐held robotic instrument for dextrous laparoscopic interventions

“…These are the two configurations used in all the cited studies, because they permit exploitation of the rotation of the shaft around its axis, so that the first roll joint can be placed far from the tip, thus simplifying the design of the mechanism. In (17) and (18) the roll movement of the shaft is not even actuated by a motor, but is controlled directly by hand.…”

“…In the second position control mode, the fulcrum constraint at the trocar is introduced, so that moving the handle in one direction causes the tip to move in the opposite direction, as happens with conventional and hand-held mechatronic laparoscopic instruments. Orientation of the tip can be controlled in absolute mode by an exact correspondence with the orientation of the handle, as in telerobotics and in (17), or it can be controlled in relative mode, moving the joint angles incrementally with fixed velocity using a joystick, as in our first prototype (19) and in (16). By combining the two position control modes with the two orientation control modes we obtained four different control modes ( Figure 6).…”

Basic Study of Appropriate Knot-Tying Force in the Gastrointestinal Tract for Development of Haptic Surgical Robot

“…We therefore thought that objective data should be obtained to determine the optimal knottying force to apply when suturing during robotic surgery. To achieve this goal we developed forceps for robotic surgery whose tips have six degrees of freedom ( Matsuhira et al, 2003) and a new system at our hospital that displays information about force at the tip of the forceps measured by a sensor to the surgeons on monitor or via auditory signals. No studies have ever been conducted to investigate the relationship between knot-tying force and the efficiency of wound healing in the operated tissue, or to estimate the optimal knot-tying force for tissues.…”

Strategies for gastric cancer treatment in the twenty-first century: minimally invasive and tailored approaches integrating basic science and clinical medicine

“…To overcome this problem, advanced engineering technology, especially robotics, has been introduced in laparoscopic surgery. Recently we have developed a combined master-slave manipulator, which is relatively simple and yet suitable for general surgery [6]. We have started using this system clinically to perform high-quality GI cancer surgery.…”