Page 74 - Mechatronics for Safety Security and Dependability in a New Era

Ch13-I044963.fm Page 57 Tuesday, August 1, 2006 12:49 PM
Tuesday, August 1,2006
Page 57
12:49 PM
Ch13-I044963.fm
57 57
DEVELOPMENT OF MASTER-SLAVE ROBOTIC SYSTEM
FORLAPAROSCOPIC SURGERY

1
1
1
1
3
T. Suzuki , E. Aoki , E. Kobayashi , T. Tsuji , K. Konishf, M. Hashizume , and I. Sakuma 1
1
Institute of Environmental Studies, Graduate School of Frontier Sciences, The University of Tokyo
7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
2 3
Department of Disaster and Emergency Medicine, Department of Innovative Medical Technology,
Graduate School of Medical Sciences, Kyushu University,
3-1-1, Maidashi, Higashi-ku, Fukuoka, 812-8582, Japan
ABSTRACT

Laparoscopic surgeiy is widely performed as a less traumatic minimally invasive surgeiy. It, however, requires
experiences and skills for surgeons. For realizing high quality and preciseness of surgical operation, we developed
a new compact slave robot in a master-slave system. Tt consisted of manipulator positioning arm, forceps manipu-
lator, and bending forceps. We integrated them into a slave robot with seven DOFs. In vivo experiment was con-
ducted to evaluate the basic motion and the feasibility.

KEY WORDS
Minimally invasive surgery, laparoscopic surgery, computer assisted surgery, surgical robot, medical robot, mas-
ter-slave system, RCM mechanism, pivot motion, robot forceps, and bending forceps

TTNTRODUCTTON
Laparoscopic surgery is widely performed as a means of minimally invasive surgeiy. Tn this method, surgeons cut
3 A holes on the abdominal wall, and entire operations are conducted inside the abdominal cavity through the inci-
sion holes using rigid thin scope (laparoscope) and long-handled surgical tools such as forceps, scalpel (Figure 1).
Compared with the conventional laparotomy requiring large incision on the abdomen, laparoscopic surgeiy has
benefits for patients because of its small invasion; reduction of postoperative pain and hospital stay time. This pa-
tient-friendly technique, however, is rather difficult and cannot be applied to all cases, mainly because the limited
degrees of freedom (DOF) of forceps eliminate the dexterity of surgeons. Forceps have only four DOFs
(two-DOF pivot motion for orientation of forceps, and two DOFs for insertion and rotation of forceps). Procedure
is operated symmetrically around the incision hole, so that surgeon gets confused (Figure 1). Responding to these
issues, master-slave surgery-assisting robotic manipulators with maneuverable robotic arms and laparoscope