Development of a master slave combined manipulator for laparoscopic surgery functional model and its evaluation

Makoto Jinno, Nobuto Matsuhira, Takamitsu Sunaoshi, Takehiro Hato, Toyomi Miyagawa, Yasuhide Morikawa, Toshiharu Furukawa, Soji Ozawa, Masaki Kitajima, Kazuo Nakazawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

Minimally invasive surgery helps patients by accelerating postoperative recovery. However, its application is impeded because it is necessary for the surgeons performing such surgery to possess surgical skills of a high order. Thus, for laparoscopic surgery, a master slave combined manipulator (MCM) has been proposed that enhances the surgeon’s skill. The master grip and the slave hand with wrist joints are combined through the manipulator body, and a surgeon can perform the operation near to the patient. The slave hand is controlled by the master grip electrically and its position is directly controlled by the surgeon. The prototype model of the MCM has been developed and the function of the MCM has been verified by basic evaluation tests, and the MCM has been applied in an animal experiment. This paper describes the basic performance of the MCM.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
EditorsTakeyoshi Dohi, Ron Kikinis
PublisherSpringer Verlag
Pages52-59
Number of pages8
ISBN (Print)9783540457862
DOIs
Publication statusPublished - 2002 Jan 1
Event5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 - Tokyo, Japan
Duration: 2002 Sep 252002 Sep 28

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2488
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002
CountryJapan
CityTokyo
Period02/9/2502/9/28

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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