Development of a functional model for a master-slave combined manipulator for laparoscopic surgery

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

研究成果: Article

26 引用 (Scopus)

抜粋

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. Therefore, a master-slave combined manipulator (MCM) has been proposed as a robotic tool that enhances the surgeon's skill in laparoscopic surgery. The master grip and the slave hand are combined through the manipulator body, and a surgeon can operate the tool near the patient. The slave hand is controlled electrically by the master grip and its position is directly controlled by the surgeon. A prototype model of the MCM has been developed. The functions of the MCM have been verified by basic evaluation tests and the MCM has been used in a preliminary animal experiment. This paper describes the concept, the basic performance and the validation of the MCM.

元の言語English
ページ(範囲)523-539
ページ数17
ジャーナルAdvanced Robotics
17
発行部数6
DOI
出版物ステータスPublished - 2003 9 4

    フィンガープリント

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

これを引用

Matsuhira, N., Jinno, M., Miyagawa, T., Sunaoshi, T., Hato, T., Morikawa, Y., Furukawa, T., Ozawa, S., Kitajima, M., & Nakazawa, K. (2003). Development of a functional model for a master-slave combined manipulator for laparoscopic surgery. Advanced Robotics, 17(6), 523-539. https://doi.org/10.1163/15685530360675523