Format

Send to

Choose Destination
Minim Invasive Ther Allied Technol. 2014 Dec;23(6):326-32. doi: 10.3109/13645706.2014.942321. Epub 2014 Jul 23.

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

Author information

1
Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University , Toyonaka , Japan.

Abstract

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.

KEYWORDS:

Local operation; laparoscopic surgery; master-slave; single incision

PMID:
25055249
DOI:
10.3109/13645706.2014.942321
[Indexed for MEDLINE]

Supplemental Content

Full text links

Icon for Taylor & Francis
Loading ...
Support Center