Development of Master-Slave Robotic System for Laparoscopic Surgery

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

doi:10.1016/b978-008044963-0/50013-8

Cited by 4 publications

(3 citation statements)

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“…Master-slave tele-operated systems with Dedicated Consoles (MSTDC) have become very common in laparoscopic surgeries [9,[98][99][100][101][102][103][104][105]. They offer significant advantages, including eliminating the surgeon's hand tremor and reducing his/her fatigue in dealing with restricted area of operation, due to limited DOFs provided by the trocar.…”

Section: Master-slave Teleoperated Systems With Dedicated Consolesmentioning

confidence: 99%

Robotics in laparoscopic surgery - A review

et al. 2022

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Because of the increasing use of laparoscopic surgeries, robotic technologies have been developed to overcome the challenges these surgeries impose on surgeons. This paper presents an overview of the current state of surgical robots used in laparoscopic surgeries. Four main categories were discussed: handheld laparoscopic devices, laparoscope positioning robots, master–slave teleoperated systems with dedicated consoles, and robotic training systems. A generalized control block diagram is developed to demonstrate the general control scheme for each category of surgical robots. In order to review these robotic technologies, related published works were investigated and discussed. Detailed discussions and comparison tables are presented to compare their effectiveness in laparoscopic surgeries. Each of these technologies has proved to be beneficial in laparoscopic surgeries.

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Section: Master-slave Teleoperated Systems With Dedicated Consolesmentioning

confidence: 99%

Robotics in laparoscopic surgery - A review

et al. 2022

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“…2) Forceps manipulator: The forceps manipulator has four degrees of freedom (DOFs) to create the same motion of the forceps as in conventional laparoscopic surgery, two DOFs for orientation around the incision hole, and two DOFs for insertion and rotation of the forceps [6].…”

Section: )mentioning

confidence: 99%

“…3) Bending forceps: We manufactured various types of instruments; two types of needle holder, grasping forceps, and special grasping forceps for soft tissue, such as intestines ( Fig.1(d)) [6] [8].…”

Section: )mentioning

confidence: 99%

Modular Design of Master-Slave Surgical Robotic System with Reliable Real-Time Control Performance

Aoki¹,

Suzuki²,

Kobayashi³

et al.

The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.

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This paper describes a master-slave surgical robotic system with software modular system design, which integrates various independently developed surgical devices. When we add new functions to the developed modular system, there is no need for time-consuming redesign of the entire system. However, we cannot evaluate the computational system load exactly because the system configuration changes according to the components included. A master-slave system should be a stable and reliable control system with high sampling frequency to enable human visual feedback control. Moreover, it requires consistent master-slave operation on the integrated component. To maintain reliable real-time performance and consistent operation, even with changes in system configuration, we introduced a software system consisting of; A position registration system to realize consistent operation on the integrated component, modular asynchronous system to avoid performance changes caused by the introduction of various subsystems and a management system to arbitrate inconsistencies between systems. An optical tracking system is used to integrate position and motion information of the subsystems to simplify setup in an operating theater. We evaluated the feasibility of the modular master-slave system by integrating independently developed components into the system. The results of the evaluation experiments showed that we could control all the subsystems consistently as an entire master-slave surgical system on an integrated coordinate system with stable real-time response.Index Terms-master-slave system, minimal invasive surgery, medical robot, modular system and real-time system.

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