Development of Robotic Forceps for Laparoscopic Surgery

Jinno, Makoto; Sunaoshi, Takamitsu; Miyagawa, T.; Hato, Takehiro; Matsuhira, Nobuto; Morikawa, Yasuhide; Ozawa, Soji; Kitajima, Masaki

doi:10.20965/jrm.2006.p0249

Cited by 15 publications

(9 citation statements)

References 9 publications

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“…There are three kinds of combinations of the second and third axis for clinical use articulated forcipes of laparoscopic surgery [7,10,[15][16][17]. Also, the prototype models of wrist mechanisms for articulated forceps [8,9,[11][12][13][14][18][19][20][21][22][23][24][25] can be classified by the same three configurations. The three configurations of the second and third axes are as follows and showed in Fig.…”

Section: Configuration Of the Degrees Of Freedommentioning

confidence: 99%

“…B. A bending axis (pitch axis or yaw) and roll axis [10,11,14,15]. C. Two curvature axes for up/down and right/left motions using joint ring, linkage, and spring, among others.…”

Section: Configuration Of the Degrees Of Freedommentioning

confidence: 99%

“…Since the longitudinal directions of the gripper and forceps axes coincide with the roll axis, it is difficult to avoid the singularity configuration near the standard working posture. The offset is eliminated [10,11,14,15]. C. Since the posture is determined by bending motions, the offset of both bending mechanisms tends to be very large.…”

Section: A B Cmentioning

confidence: 99%

“…Further, we have proposed another type of wire-pulley and gear drive mechanism [11,12]. Nishizawa and Kobayashi proposed a non-interference mechanism using wire-pulley and gears mechanism [13].…”

Section: Introductionmentioning

confidence: 99%

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Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Jinno

2018

Robomech J

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Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopic surgery is the restriction of free motion of the forceps because of the limited degrees of freedom by the trocar. Recently, many master-slave manipulators with articulated forceps have been used in laparoscopic surgery to solve this problem. The wrist mechanism of an articulated forceps affects the controllability and range of motion of a slave manipulator in a patient's abdominal cavity. Therefore, it is important to improve upon the wrist mechanism of articulated forceps for robot-assisted laparoscopic surgery. This paper aims to propose a new wrist mechanism for articulated forceps to be used in laparoscopic surgery. The degrees of freedom of the proposed design are three motor-driven axes that use wires and pulleys (a pitch axis, yaw axis, and gripper axis) and a roll axis driven by manual rotation of the forceps shaft. In the proposed mechanism, the offset distance between the pitch and yaw axes was reduced. The offset value, i.e., 5.95 mm, is shorter than the maximum outer diameter 7.5 mm of the wrist mechanism. Singularity configurations of the wrist axes are avoided near the standard working posture by configuring the pitch and yaw axis. There are few parts and it is simple as compared to the previously developed clinical use robotic forceps. Furthermore, the effectiveness of the proposed mechanism was verified by tests. The range of pitch motion is ± 90°, yaw motion is ± 85° (or ± 90°), and gripper motion is 60° (or 50°). The transmission efficiencies are from about 55 to 75%. The grasping force and torque are more than 5 N and 70 mNm.

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Section: Configuration Of the Degrees Of Freedommentioning

confidence: 99%

“…B. A bending axis (pitch axis or yaw) and roll axis [10,11,14,15]. C. Two curvature axes for up/down and right/left motions using joint ring, linkage, and spring, among others.…”

Section: Configuration Of the Degrees Of Freedommentioning

confidence: 99%

Section: A B Cmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Jinno

2018

Robomech J

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“…Furthermore, support mechanisms have been reported for a robotic forceps using a 6-axis articulated robot with active and passive joints [9]. The master-slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot is advantageous as it is a scalable and versatile system.…”

Section: Introductionmentioning

confidence: 99%

Master–slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot

Jinno

2014

Robomech J

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Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopic surgery is restriction of free motion of the forceps because of limited degrees of freedom by the trocar. Recently, many master-slave manipulators with a remote center-of-motion mechanism have been used in laparoscopic surgery to solve this problem. The master-slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot has some advantages as a scalable and versatile system. However, to achieve smooth insertion and removal motion of the forceps from the trocar, the problem of restriction of motion by the trocar must be addressed. This paper describes a master-slave manipulator system for laparoscopic surgery using a 6-axis vertical articulated robot with a slave arm containing forceps. A manipulating mode of the slave arm, consisting of four basic motion modes and three control modes, is proposed in order to perform smooth operations when the motion of the trocar is restricted. The three control modes include a non-trocar mode, a trocar mode, and a transitional mode between the two modes in order to ensure smooth insertion and removal motions of the forceps. Furthermore, the transitional mode consists of a posture adjustment motion and insertion-removal motions. The posture adjustment motion before an insertion motion of the forceps under the transitional mode is achieved by the motions of only the 4th axis and 5th axis of the slave arm. The posture adjustment motion and insertion motion under the transitional mode and the master-slave motion under the trocar mode are shown through evaluations of the master-slave manipulator system, including a 6-axis vertical articulated robot, in order to verify the effectiveness of the proposed methods.

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Design parameter evaluation based on human operation for tip mechanism of forceps manipulator using surgical robot simulation

et al. 2016

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Development of Robotic Forceps for Laparoscopic Surgery

Cited by 15 publications

References 9 publications

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Master–slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot

Design parameter evaluation based on human operation for tip mechanism of forceps manipulator using surgical robot simulation

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