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

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

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)326-332
Number of pages7
JournalMinimally Invasive Therapy and Allied Technologies
Issue number6
Publication statusPublished - Dec 1 2014
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Surgery


Dive into the research topics of 'A novel locally operated master-slave robot system for single-incision laparoscopic surgery'. Together they form a unique fingerprint.

Cite this