Development of Forceps manipulator for Assisting Laparoscopic Surgery

Suzuki, Takashi; Aoki, Eisuke; Kobayashi, Etsuko; Tsuji, Takayuki; Konishi, Kozo; Hashizume, Makoto; Sakuma, Ichiro

doi:10.1299/jsmermd.2004.127_3

Cited by 2 publications

(2 citation statements)

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“…We developed the robotic forceps as an end effector of the forceps manipulator with four DOF [7,8]. The forceps required two bending joints that were equivalent to the wrist of a surgeon, so that the forceps could trace the operational procedure using six DOF.…”

Section: Bending Forceps and Integrationmentioning

confidence: 99%

Development of a Robotic Laser Surgical Tool with an Integrated Video Endoscope

Suzuki

Nishida

Kobayashi

et al. 2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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Abstract. Integration of new surgical devices with surgery assisting robots is required by surgeons. We have developed a novel robotic laser coagulator with a charge coupled device (CCD) video endoscope and a bending joint. The endoscope visualizes the detail of the target, and bending joint realizes the irradiation in a selected direction. We adopted two laser diodes for this purpose: an infrared semiconductor laser (λ = 980 nm) for coagulation, and a visible wavelength laser (λ = 635 nm) acting as a pointer for the target. The technical originality of this work is the mounting of a laser module on the forceps without using an optical fiber or mirror guide. This reduces the danger of laser leakage at the bending joint, and realizes miniaturization in the multiarticular robot. The clinical significance is the precise positioning and intuitive operation of the laser coagulator through future integration of this tool with a master-slave robotic system. An in vivo study achieved necrosis of liver tissue, and demonstrated the feasibility of the robotic laser coagulator using a CCD video endoscope.

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Section: Bending Forceps and Integrationmentioning

confidence: 99%

Development of a Robotic Laser Surgical Tool with an Integrated Video Endoscope

Suzuki

Nishida

Kobayashi

et al. 2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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“…3), an operator sits in front of a monitor showing a laparoscopic view and controls the master manipulators, using footswitches to command the SLAVE. The SLAVE system uses three slave robotic manipulators with seven degrees of freedom that include a grasping function, and an endoscope with a variable viewing angle [6,7]. The slave robotic manipulators are located on passive positioning arms for easier presetting of the manipulators before surgical operation.…”

Section: A Master-slave Manipulator System With a Dedicated Communicamentioning

confidence: 99%

System Design for Implementing Distributed Modular Architecture to Reliable Surgical Robotic System

Aoki¹,

Suzuki²,

Kobayashi³

et al. 2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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Abstract.A method that resolves the two competing requirements for a surgical robotic system (reliability and scalability) is discussed, along with its preliminary implementation in a master-slave system. The proposed method enables an architecture that can be scaled without impairing the performance of the surgical robotic system. Our method uses an optimized architecture consisting of two components: a common object request broker architecture (CORBA) and a master-slave system that typically operates using two-way communication links between a client and a remote server (the dedicated system architecture). In this new architecture, the surgical robotic system can maintain a reliable performance and can integrate with various systems in a transparent manner, regardless of the hardware, operating system, or programming language. Our method was evaluated by recording all the available surgical information, and shows a reliable scalability for a surgical robotic system requiring real-time operation, regardless of the condition of the components of a CORBA-based system.

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Development of Forceps manipulator for Assisting Laparoscopic Surgery

Cited by 2 publications

References 0 publications

Development of a Robotic Laser Surgical Tool with an Integrated Video Endoscope

Development of a Robotic Laser Surgical Tool with an Integrated Video Endoscope

System Design for Implementing Distributed Modular Architecture to Reliable Surgical Robotic System

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