2024-03-29T13:32:02Z
https://soar-ir.repo.nii.ac.jp/oai
oai:soar-ir.repo.nii.ac.jp:00013296
2022-12-14T04:03:33Z
1309:1310
Mobile locally operated detachable end-effector manipulator for endoscopic surgery
Kawai, Toshikazu
Shin, Myongyu
Nishizawa, Yuji
Horise, Yuki
Nishikawa, Atsushi
Nakamura, Tatsuo
©The Author(s) 2014. This article is published with open access at Springerlink.com
Local operation
Endoscopic surgery
Mobile surgical robot
Third arm
Disassembled mechanism
ROBOTIC SYSTEM; NEUROSURGERY
Purpose<br/>\n Local surgery is safer than remote surgery because emergencies can be more easily addressed. Although many locally operated surgical robots and devices have been developed, none can safely grasp organs and provide traction. A new manipulator with a detachable commercial forceps was developed that can act as a third arm for a surgeon situated in a sterile area near the patient. This mechanism can be disassembled into compact parts that enable mobile use.<br/>Methods<br/>\n A mobile locally operated detachable end-effector manipulator (LODEM) was developed and tested. This device uses crank-slider and cable-rod mechanisms to achieve 5 degrees of freedom and an acting force of more than 5 N. The total mass is less than 15 kg. The positional accuracy and speed of the prototype device were evaluated while performing simulated in vivo surgery.<br/>Results<br/>\n The accuracy of the mobile LODEM was 0.4 mm, sufficient for handling organs. The manipulator could be assembled and disassembled in 8 min, making it highly mobile. The manipulator could successfully handle the target organs with the required level of dexterity during an in vivo laparoscopic surgical procedure.<br/>Conclusions<br/>\n A mobile LODEM was designed that allows minimally invasive robotically assisted endoscopic surgery by a surgeon working near the patient. This device is highly promising for robotic surgery applications.
Article
INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY. 10(2):161-169 (2015)
SPRINGER HEIDELBERG
2015-02
eng
journal article
AM
http://hdl.handle.net/10091/18394
https://soar-ir.repo.nii.ac.jp/records/13296
http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?CMD=search&DB=pubmed&term=24799272
24799272
https://doi.org/10.1007/s11548-014-1062-4
10.1007/s11548-014-1062-4
1861-6410
AA12154754
INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY
10
2
161
169
https://soar-ir.repo.nii.ac.jp/record/13296/files/Mobile_locally_operated_detachable.pdf
application/pdf
1.8 MB
2015-09-28