Development of a remote minimally-invasive surgical system with operational environment transmission capability

Mitsuishi, Mamoru; Arata, Jumpei; Tanaka, Kazutoshi; Miyamoto, Manabu; Yoshidome, Tadashi; Iwata, Sho; Hashizume, Makoto; Warisawa, Shin’ichi

doi:10.1109/robot.2003.1241995

Cited by 45 publications

(18 citation statements)

References 7 publications

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“…A concern about the location of rotational centre of the mechanism should be discussed. Many studies have proposed the necessity of the remote centre of motion (RCM) mechanism to realize pivot motion with no mechanical part at the trocar port; such as R-guide (Mitsuishi, et al, 2003) and parallel-linkage mechanism (Taylor, et al, 1995, Madhani, et al, 1998, and Kobayashi, et al, 2002. As gimbals mechanism has its rotational centre inside it, not at the incision hole, the rotational centre is located above trocar port and forceps pulls abdominal wall accompanying its pivot motion.…”

Section: Gimbals Mechanismmentioning

confidence: 99%

Mechanical Error Analysis of Compact Forceps Manipulator for Laparoscopic Surgery

Suzuki¹,

Katayama²,

Kobayashi³

et al. 2008

Medical Robotics

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Section: Gimbals Mechanismmentioning

confidence: 99%

Mechanical Error Analysis of Compact Forceps Manipulator for Laparoscopic Surgery

Suzuki¹,

Katayama²,

Kobayashi³

et al. 2008

Medical Robotics

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“…The slave arm motion is controlled at the same or reduced scale of motion of the master arm. The slave arm has a remote center-ofmotion (RCM) mechanism to enable performance of surgical procedures under restricted motion of the trocar [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Master–slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot

Jinno

2014

Robomech J

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Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopic surgery is restriction of free motion of the forceps because of limited degrees of freedom by the trocar. Recently, many master-slave manipulators with a remote center-of-motion mechanism have been used in laparoscopic surgery to solve this problem. The master-slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot has some advantages as a scalable and versatile system. However, to achieve smooth insertion and removal motion of the forceps from the trocar, the problem of restriction of motion by the trocar must be addressed. This paper describes a master-slave manipulator system for laparoscopic surgery using a 6-axis vertical articulated robot with a slave arm containing forceps. A manipulating mode of the slave arm, consisting of four basic motion modes and three control modes, is proposed in order to perform smooth operations when the motion of the trocar is restricted. The three control modes include a non-trocar mode, a trocar mode, and a transitional mode between the two modes in order to ensure smooth insertion and removal motions of the forceps. Furthermore, the transitional mode consists of a posture adjustment motion and insertion-removal motions. The posture adjustment motion before an insertion motion of the forceps under the transitional mode is achieved by the motions of only the 4th axis and 5th axis of the slave arm. The posture adjustment motion and insertion motion under the transitional mode and the master-slave motion under the trocar mode are shown through evaluations of the master-slave manipulator system, including a 6-axis vertical articulated robot, in order to verify the effectiveness of the proposed methods.

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“…However, it causes difficult operation for surgeons due to the inflexibility of surgical instruments and small work space. Therefore, development of the surgical support devices with the application of robot technology is in demand [1]- [3]. Recently, robotic surgical support systems such as `da VINCI' are in clinical use [4].…”

Section: Introductionmentioning

confidence: 99%

Lyapunov function based bilateral control for teleoperation system with time varying delay

Ishii

Nishitani

Hashimoto

2010

2010 IEEE International Conference on Industrial Technology

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Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. In order to improve the operability of the robotic surgical systems, development of haptic forceps teleoperation systems is required to help surgeon's dexterity. In addition, the motion scaling, which can adequately reduce or enlarge the movements and tactile senses of the operator and the robot, is necessary to assure safety of the surgery. On the other hand, communication time delay is inevitable in teleoperation systems, which may cause instability of the teleoperation systems. Therefore, stability of the system must be guaranteed in the presence of the communication time delay between master device and slave device. We have developed a multi-DOF robotic forceps manipulator using a novel omnidirectional bending mechanism, and for the developed robotic forceps manipulator, we proposed a passivity based bilateral control that enables motion scaling in both position tracking and force tracking, and guarantees the stability of the teleoperation system in the presence of constant time delay, so far. In this paper, the passivity based bilateral control is extended so as to guarantee the stability of the teleoperation system not only in the presence of the constant time delay but also in the presence of the time varying delay.

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Development of a remote minimally-invasive surgical system with operational environment transmission capability

Cited by 45 publications

References 7 publications

Mechanical Error Analysis of Compact Forceps Manipulator for Laparoscopic Surgery

Mechanical Error Analysis of Compact Forceps Manipulator for Laparoscopic Surgery

Master–slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot

Lyapunov function based bilateral control for teleoperation system with time varying delay

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