1. Development of a functional model for a master–slave combined manipulator for laparoscopic surgery.
- Author
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Matsuhira, Nobuto, Jinno, Makoto, Miyagawa, Toyomi, Sunaoshi, Takamitsu, Hato, Takehiro, Morikawa, Yasuhide, Furukawa, Toshiharu, Ozawa, Soji, Kitajima, Masaki, and Nakazawa, Kazuo
- Subjects
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SURGERY , *MEDICAL robotics , *SURGEONS , *MANIPULATORS (Machinery) , *ROBOTICS - 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. 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. [ABSTRACT FROM AUTHOR]
- Published
- 2003
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