Abstract
Single-incision laparoscopic surgery (SILS) brings many benefits for patients but surgeons’ burden increases due to the following problems; the narrowness of the surgeon’s hand operating range, the visual obstruction of the surgical site, and so on. In order to reduce their burden, we have developed a master-slave robot system for SILS which enables surgeons to perform SILS with laparoscopic techniques. This paper shows a calculation algorithm for control of flexing instruments on the slave side. Through simulation and physical experiments, we confirmed that our algorithm worked enough to manipulate flexing instruments and surgeons performed SILS as if they were performing conventional laparoscopic surgery.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Desai, M.M., Rao, P.P., Aron, M., Pascal-Haber, G., Desai, M.R., Mishra, S., Kaouk, J.H., Gill, I.S.: Laparoscopic and Robotic Urology. British Journal of Urology International 101(1), 83–88 (2008)
Tavakoli, M., Patel, R.V., Mollem, M.: Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector. International Journal of Medical Robotics and Computer Assisted Surgery 1(2), 53–63 (2005)
Ostrowitz, M.B., Eschete, D., Zemon, H., DeNoto, G.: Robotic-assisted single-incision right colectomy: early experience. International Journal of Medical Robotics and Computer Assisted Surgery 5(4), 465–470 (2009)
Kaouk, J.H., Goel, R.K., Haber, G.P., Crouzet, S., Stein, R.J.: Robotic single-port transumbilical surgery in humans: initial report. British Journal of Urology International 103(3), 366–369 (2009)
Fader, A.N., Escobar, P.F.: Laparoscopic single-site surgery (LESS) in gynecologic oncology: technique and initial report. Gynecologic Oncology 114(2), 157–161 (2009)
Ragupathi, M., Ramos-Valadez, D.I., Pedraza, R., Haas, E.M.: Robotic-assisted single-incision laparoscopic partial cecectomy. International Journal of Medical Robotics and Computer Assisted Surgery 6(3), 362–367 (2010)
Horise, Y., Nishikawa, A., Sekimoto, M., Kitanaka, Y., Miyoshi, N., Takiguchi, S., Doki, Y., Mori, M., Miyazaki, F.: Development and evaluation of a master-slave robot system for single-incision laparoscopic surgery. International Journal of Computer Assisted Radiology and Surgery 7(2), 289–296 (2012)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer Tokyo
About this paper
Cite this paper
Horise, Y. et al. (2012). An Algorithm for Control of Flexing Instruments for Single-Incision Laparoscopic Surgery. In: Dohi, T., Liao, H. (eds) Computer Aided Surgery. Proceedings in Information and Communications Technology, vol 3. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54094-6_7
Download citation
DOI: https://doi.org/10.1007/978-4-431-54094-6_7
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-54093-9
Online ISBN: 978-4-431-54094-6
eBook Packages: Computer ScienceComputer Science (R0)