A Compact, Simple, and Robust Teleoperated Robotic Surgery System
The utility of current commercial teleoperated robotic surgery systems is limited by their high cost, large size, and time-consuming setup procedures. We have developed a prototype system which aims to overcome these obstacles by being much smaller, simpler, and easier to set up and operate, while providing equivalent functionality and performance for executing surgical procedures. The prototype system is modular and each component manipulator is approximately 2.5 kg or less, so that they system is easily portable and each manipulator can be individually positioned and fixed in place by hand to a rigid frame above the operating table. All system components and materials are autoclaveable and immersible in fluids, so that each manipulator can be sterilized and stored by the standard operating procedures used for any other surgical instrument, and no sterile draping is required. The system is described and results of untrained user trials performing standard laparoscopic surgery skill tasks are given.
KeywordsSurgical Instrument Haptic Device Instrument Manipulator Video Feedback Precision Cutting
We are grateful for the assistance of Alpes Instruments SA of Meylan, France for the fabrication of the instrument manipulators, and to EndoControl SA of Grenoble, France, for supplying the endoscope manipulator used in the system. Research support has been provided by the NIH under grant #5R21EB006073, “Development of Compact Teleoperated Robotic Minimally Invasive Surgery” and by the University of Hawaii-Manoa College of Engineering and Department of Mechanical Engineering.
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