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International Journal of Computer Assisted Radiology and Surgery

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Open Access 01-02-2015 | Original Article

Mobile locally operated detachable end-effector manipulator for endoscopic surgery

Authors: Toshikazu Kawai, Myongyu Shin, Yuji Nishizawa, Yuki Horise, Atsushi Nishikawa, Tatsuo Nakamura

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 2/2015

Abstract

Purpose

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.

Methods

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.

Results

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.

Conclusions

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.

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Title: Mobile locally operated detachable end-effector manipulator for endoscopic surgery
Authors: Toshikazu Kawai
Myongyu Shin
Yuji Nishizawa
Yuki Horise
Atsushi Nishikawa
Tatsuo Nakamura
Publication date: 01-02-2015
Publisher: Springer Berlin Heidelberg
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 2/2015
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-014-1062-4

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Mobile locally operated detachable end-effector manipulator for endoscopic surgery

Abstract

Purpose

Methods

Results

Conclusions

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Abstract

Purpose

Methods

Results

Conclusions

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