TY - JOUR
T1 - A novel locally operated master-slave robot system for single-incision laparoscopic surgery
AU - Horise, Yuki
AU - Matsumoto, Toshinobu
AU - Ikeda, Hiroki
AU - Nakamura, Yuta
AU - Yamasaki, Makoto
AU - Sawada, Genta
AU - Tsukao, Yukiko
AU - Nakahara, Yujiro
AU - Yamamoto, Masaaki
AU - Takiguchi, Shuji
AU - Doki, Yuichiro
AU - Mori, Masaki
AU - Miyazaki, Fumio
AU - Sekimoto, Mitsugu
AU - Kawai, Toshikazu
AU - Nishikawa, Atsushi
N1 - Funding Information:
This research was supported by a Grant-in-Aid for Japan Society for the Promotion of Science Fellows (A2426910). We are grateful to Mr. Takeharu Kobayashi and Mr. Kohei Kazuhara of Daiken Medical Co. Ltd., who supported the development of the master device.
Publisher Copyright:
© 2014 Informa Healthcare.
PY - 2014/12/1
Y1 - 2014/12/1
N2 - Purpose: Single-incision laparoscopic surgery (SILS) provides more cosmetic benefits than conventional laparoscopic surgery but presents operational difficulties. To overcome this technical problem, we have developed a locally operated master-slave robot system that provides operability and a visual field similar to conventional laparoscopic surgery.Material and methods: A surgeon grasps the master device with the left hand, which is placed above the abdominal wall, and holds a normal instrument with the right hand. A laparoscope, a slave robot, and the right-sided instrument are inserted through one incision. The slave robot is bent in the body cavity and its length, pose, and tip angle are changed by manipulating the master device; thus the surgeon has almost the same operability as with normal laparoscopic surgery. To evaluate our proposed system, we conducted a basic task and an ex vivo experiment.Results: In basic task experiments, the average object-passing task time was 9.50 sec (SILS cross), 22.25 sec (SILS parallel), and 7.23 sec (proposed SILS). The average number of instrument collisions was 3.67 (SILS cross), 14 (SILS parallel), and 0.33 (proposed SILS). In the ex vivo experiment, we confirmed the applicability of our system for single-port laparoscopic cholecystectomy.Conclusion: We demonstrated that our proposed robot system is useful for single-incision laparoscopic surgery.
AB - Purpose: Single-incision laparoscopic surgery (SILS) provides more cosmetic benefits than conventional laparoscopic surgery but presents operational difficulties. To overcome this technical problem, we have developed a locally operated master-slave robot system that provides operability and a visual field similar to conventional laparoscopic surgery.Material and methods: A surgeon grasps the master device with the left hand, which is placed above the abdominal wall, and holds a normal instrument with the right hand. A laparoscope, a slave robot, and the right-sided instrument are inserted through one incision. The slave robot is bent in the body cavity and its length, pose, and tip angle are changed by manipulating the master device; thus the surgeon has almost the same operability as with normal laparoscopic surgery. To evaluate our proposed system, we conducted a basic task and an ex vivo experiment.Results: In basic task experiments, the average object-passing task time was 9.50 sec (SILS cross), 22.25 sec (SILS parallel), and 7.23 sec (proposed SILS). The average number of instrument collisions was 3.67 (SILS cross), 14 (SILS parallel), and 0.33 (proposed SILS). In the ex vivo experiment, we confirmed the applicability of our system for single-port laparoscopic cholecystectomy.Conclusion: We demonstrated that our proposed robot system is useful for single-incision laparoscopic surgery.
UR - http://www.scopus.com/inward/record.url?scp=84911426809&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911426809&partnerID=8YFLogxK
U2 - 10.3109/13645706.2014.942321
DO - 10.3109/13645706.2014.942321
M3 - Article
C2 - 25055249
AN - SCOPUS:84911426809
SN - 1364-5706
VL - 23
SP - 326
EP - 332
JO - Minimally Invasive Therapy and Allied Technologies
JF - Minimally Invasive Therapy and Allied Technologies
IS - 6
ER -