TY - GEN
T1 - Development of a master slave combined manipulator for laparoscopic surgery functional model and its evaluation
AU - Jinno, Makoto
AU - Matsuhira, Nobuto
AU - Sunaoshi, Takamitsu
AU - Hato, Takehiro
AU - Miyagawa, Toyomi
AU - Morikawa, Yasuhide
AU - Furukawa, Toshiharu
AU - Ozawa, Soji
AU - Kitajima, Masaki
AU - Nakazawa, Kazuo
PY - 2002/1/1
Y1 - 2002/1/1
N2 - 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.
AB - 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.
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U2 - 10.1007/3-540-45786-0_7
DO - 10.1007/3-540-45786-0_7
M3 - Conference contribution
AN - SCOPUS:84974691395
SN - 9783540457862
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 52
EP - 59
BT - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
A2 - Dohi, Takeyoshi
A2 - Kikinis, Ron
PB - Springer Verlag
T2 - 5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002
Y2 - 25 September 2002 through 28 September 2002
ER -