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Development of a Master Slave Combined Manipulator for Laparoscopic Surgery
Functional Model and Its Evaluation
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Development of a Master Slave Combined Manipulator for Laparoscopic Surgery
Functional Model and Its Evaluation
Makoto Jinno6, Nobuto Matsuhira6, Takamitsu Sunaoshi6, Takehiro Hato6, Toyomi Miyagawa6, Yasuhide Morikawa7, Toshiharu Furukawa7, Soji Ozawa7, Masaki Kitajima7 and Kazuo Nakazawa8
| (6) |
Corporate R&D Center, Toshiba Corporation, 1, Komukai Toshiba-Cho, Kawasaki-Ku, Kawasaki 212-8582, Japan |
| (7) |
Department of Surgery, Keio University, 35, Shinano-machi, Shinjyuku-ku, Tokyo 160-8582, Japan |
| (8) |
Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan |
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.
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