Locally operated assistant manipulators with selectable connection system for robotically assisted laparoscopic solo surgery.

Journal: International journal of computer assisted radiology and surgery
Published Date: Mar 12, 2021

Abstract

PURPOSE: By integrating locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe robotically assisted laparoscopic solo surgery while controlling a laparoscope-holding robot and a forceps robot. At present, there is no leader-follower control system with switchable connection for the leader device in which each assistant follower robot can provide the manipulation intuitively and easily. In the present study, a new locally operated leader-follower selectable control system has been developed.

Authors

  • Shohei Fukui
    Graduate School of Robotics and Design, Osaka Institute of Technology, Osaka, 530-8568, Japan.
  • Toshikazu Kawai
    Graduate School of Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi Ward, Osaka , 535-8585, Japan, kawai@bme.oit.ac.jp.
  • Yuji Nishizawa
  • Atsushi Nishikawa
  • Tatsuo Nakamura
  • Noriyasu Iwamoto
    Faculty of Textile Science and Technology, Shinshu University, Ueda, 386-8567, Japan.
  • Yuki Horise
  • Ken Masamune
    Faculty of Advanced Techno-Surgery, Institute of Advanced Biomedical Engineering and Science, Tokyo Women's Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo, 162-8666, Japan.

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