Development and evaluation of a master-slave robot system for single-incision laparoscopic surgery

Yuki Horise, Atsushi Nishikawa, Mitsugu Sekimoto, Yu Kitanaka, Norikatsu Miyoshi, Shuji Takiguchi, Yuichiro Doki, Masaki Mori, Fumio Miyazaki

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


Purpose Single-incision laparoscopic surgery (SILS) brings cosmetic benefits for patients, but this procedure is more difficult than laparoscopic surgery. In order to reduce surgeons' burden, we have developed a master-slave robot system which can provide robot-assisted SILS as if it were performing conventional laparoscopic surgery and confirmed the feasibility of our proposed system. Methods The proposed system is composed of an input device (master side), a surgical robot system (slave side), and a control PC. To perform SILS in the same style as regular laparoscopic surgery, input instruments are inserted into multiple incisions, and the tip position and pose of the left-sided (right-sided) robotic instrument on the slave side follow those of the right-sided (left-sided) input instruments on the master side by means of a control command from the PC. To validate the proposed system, we defined four operating conditions and conducted simulation experiments and physical experiments with surgeons under these conditions, then compared the results. Results In the simulation experiments, we found learning effects between trials (P = 0.00013 < 0.05). Our proposed system had no significant difference from a condition simulating classical laparoscopic surgery (P = 0.23 > 0.1), and the task time of our system was significantly shorter than the simulated SILS (P = 0.011 < 0.05). In the physical experiments, our system performed SILS more easily, efficiently, and intuitively than the other operating conditions. Conclusion Our proposed system enabled the surgeons to perform SILS as if they were operating conventionally with laparoscopic techniques.

Original languageEnglish
Pages (from-to)289-296
Number of pages8
JournalInternational Journal of Computer Assisted Radiology and Surgery
Issue number2
Publication statusPublished - Mar 2012
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Surgery
  • Biomedical Engineering
  • Radiology Nuclear Medicine and imaging
  • Computer Vision and Pattern Recognition
  • Health Informatics
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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