The mechanical master–slave manipulator: an instrument improving the performance in standardized tasks for endoscopic surgery

Abstract

The tasks clearly demonstrated the efficacy of the mechanical manipulator, although some technical flaws emerged during the experiments. Considering the fact that a first prototype of the mechanical manipulator was tested, modifications are to be expected in a next model. These experiments show the potential of the mechanical manipulator, and it is expected to be a competitive and economical instrument for endoscopic surgery in the near future.

The Minimally Invasive Manipulator: An ergonomic and economic non-robotic alternative for endoscopy?

“…An additional number of DOFs with respect to conventional endoscopic instruments was shown to be favourable. Diks et al (17) reported that novices showed less actions and failures with the MIM than with COV during laboratory experiments. .…”

“…During previous knot-tying experiments, the suture wire was often caught inside the wrist mechanism, while the needle tip design embodied some rugged parts and the joints were unshielded (17).…”

“…Seven DOFs can be used, similar to the da Vinci robotic system. To meet the requirements for a new, intuitive and ergonomic manipulator for laparoscopy we analysed the benefits and shortcomings of the former MIM prototype (16,17).…”

“…The "low tech" design of the MIM should result in a more economical alternative to ROB. First experiments (17) and meetings with expert panels have shown that the system is feasible, but still needs improvements in friction reduction, weight and handle design to improve ergonomics. In this paper we report on the redesign of the MIM and an initial, indicative ergonomic experiment, comparing the device with COV.…”

Robot-like dexterity without computers and motors: a review of hand-held laparoscopic instruments with wrist-like tip articulation

“…We know of only one nonrobotic articulated device for laparoscopic surgery that is not handheld: Jaspers and Diks et al developed a mechanical manipulator that utilizes a pantograph mechanism to control two surgical bed-mounted endoscopic arms, each with seven degrees of freedom [20,21]. While this device provides many of the advantages of the da Vinci robot in a purely mechanical form, reconfigurability is limited by the need to mount it to the surgical bed.…”