TY - GEN
T1 - Multi-DOF forceps manipulator system for laparoscopic surgery - Mechanism miniaturized and evaluation of new interface
AU - Nakamura, Ryoichi
AU - Oura, Takeshi
AU - Kobayashi, Etsuko
AU - Sakuma, Ichiro
AU - Dohi, Takeyoshi
AU - Yahagi, Naoki
AU - Tsuji, Takayuki
AU - Shimada, Mitsuo
AU - Hashizume, Makoto
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2001.
PY - 2001
Y1 - 2001
N2 - The Multi-DOF forceps manipulator we developed has two additional DOF of bending on the tip of forceps, and provides new surgical fields and techniques for surgeons. The most remarkable characteristics of the prototype described in this paper are: 1) the small diameter and the small radius of curvature of bending; 2) the confirmation of perfect cleanness and sterilization of this manipulator. In this paper, we will show some new mechanisms of the forceps manipulator. Firstly, we made new mechanism of bending forceps. Using the mechanism, we made new prototype of forceps manipulator which diameter is 5mm. Secondly, we developed new concept of man-machine interface for the system. It will show the new control method and surgeons can operate surgeries with more dexterity and without confusion. We evaluated the system including new interface on typical laparosurgical procedure using simulator, and confirmed the effectiveness of this concepts.
AB - The Multi-DOF forceps manipulator we developed has two additional DOF of bending on the tip of forceps, and provides new surgical fields and techniques for surgeons. The most remarkable characteristics of the prototype described in this paper are: 1) the small diameter and the small radius of curvature of bending; 2) the confirmation of perfect cleanness and sterilization of this manipulator. In this paper, we will show some new mechanisms of the forceps manipulator. Firstly, we made new mechanism of bending forceps. Using the mechanism, we made new prototype of forceps manipulator which diameter is 5mm. Secondly, we developed new concept of man-machine interface for the system. It will show the new control method and surgeons can operate surgeries with more dexterity and without confusion. We evaluated the system including new interface on typical laparosurgical procedure using simulator, and confirmed the effectiveness of this concepts.
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U2 - 10.1007/3-540-45468-3_73
DO - 10.1007/3-540-45468-3_73
M3 - Conference contribution
AN - SCOPUS:36348929171
SN - 3540426973
SN - 9783540454687
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 606
EP - 613
BT - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings
A2 - Niessen, Wiro J.
A2 - Viergever, Max A.
PB - Springer Verlag
T2 - 4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001
Y2 - 14 October 2001 through 17 October 2001
ER -