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Development and evaluation of a master-slave robot system for single-incision laparoscopic surgery

  • Yuki Horise
  • Atsushi Nishikawa
  • Mitsugu Sekimoto
  • Yu Kitanaka
  • Norikatsu Miyoshi
  • Shuji Takiguchi
  • Yuichiro Doki
  • Masaki Mori
  • Fumio Miyazaki
Original Article

Abstract

Purpose

Single-incision laparoscopic surgery (SILS) brings cosmetic benefits for patients, but this procedure is more difficult than laparoscopic surgery. In order to reduce surgeons’ burden, we have developed a master-slave robot system which can provide robot-assisted SILS as if it were performing conventional laparoscopic surgery and confirmed the feasibility of our proposed system.

Methods

The proposed system is composed of an input device (master side), a surgical robot system (slave side), and a control PC. To perform SILS in the same style as regular laparoscopic surgery, input instruments are inserted into multiple incisions, and the tip position and pose of the left-sided (right-sided) robotic instrument on the slave side follow those of the right-sided (left-sided) input instruments on the master side by means of a control command from the PC. To validate the proposed system, we defined four operating conditions and conducted simulation experiments and physical experiments with surgeons under these conditions, then compared the results.

Results

In the simulation experiments, we found learning effects between trials (P = 0.00013 < 0.05). Our proposed system had no significant difference from a condition simulating classical laparoscopic surgery (P = 0.23 > 0.1), and the task time of our system was significantly shorter than the simulated SILS (P = 0.011 < 0.05). In the physical experiments, our system performed SILS more easily, efficiently, and intuitively than the other operating conditions.

Conclusion

Our proposed system enabled the surgeons to perform SILS as if they were operating conventionally with laparoscopic techniques.

Keywords

Master-slave Single-incision Laparoscopic surgery Flexing instrument 

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Copyright information

© CARS 2011

Authors and Affiliations

  • Yuki Horise
    • 1
  • Atsushi Nishikawa
    • 2
  • Mitsugu Sekimoto
    • 3
  • Yu Kitanaka
    • 1
  • Norikatsu Miyoshi
    • 3
  • Shuji Takiguchi
    • 3
  • Yuichiro Doki
    • 3
  • Masaki Mori
    • 3
  • Fumio Miyazaki
    • 1
  1. 1.Department of Mechanical Science and Bioengineering, Graduate School of Engineering ScienceOsaka UniversityToyonakaJapan
  2. 2.Division of Applied Biology, Faculty of Textile Science and TechnologyShinshu UniversityUedaJapan
  3. 3.Department of Gastroenterological Surgery, Graduate School of MedicineOsaka UniversitySuitaJapan

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