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Locally operated assistant manipulators with selectable connection system for robotically assisted laparoscopic solo

Shohei Fukui1, Toshikazu Kawai2, Yuji Nishizawa3

  • 1Graduate School of Robotics and Design, Osaka Institute of Technology, Osaka, 530-8568, Japan.

International Journal of Computer Assisted Radiology and Surgery
|March 13, 2021
PubMed
Summary

A new control system enables surgeons to perform solo robot-assisted laparoscopic surgery. This system allows intuitive control of surgical robots, enhancing minimally invasive procedures.

Keywords:
Assistant manipulatorLaparoscopic surgeryLeader–follower controlLocal operationSelectableSurgical robot

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Area of Science:

  • Robotics
  • Minimally Invasive Surgery
  • Surgical Technology

Background:

  • Robot-assisted surgery offers precision but often requires multiple personnel.
  • Current systems lack intuitive, switchable control for solo surgeon operation.
  • A need exists for integrated systems enabling surgeons to independently manage multiple robotic instruments.

Purpose of the Study:

  • To develop a novel, locally operated leader-follower control system for solo robot-assisted laparoscopic surgery.
  • To enable intuitive and easy manipulation of assistant robots by a single surgeon.
  • To integrate laparoscope-holding and forceps robots under a unified control system.

Main Methods:

  • Developed a leader-follower system connecting one leader device to one of two assistant manipulator robots.
  • Utilized ORiN-based medical robot architecture (MRLink) for system construction.
  • Implemented unilateral leader-follower point-to-point (PTP) control based on relative displacement.

Main Results:

  • Achieved an execution cycle of 50 ms and a catch-up time delay of 100 ms.
  • Demonstrated successful view stabilization and organ manipulation for 17 minutes in a simulated procedure.
  • Validated the system's capability in a simulated laparoscopic cholecystectomy.

Conclusions:

  • A locally operated, leader-follower selectable control system was successfully constructed.
  • The system facilitates minimally invasive, robotically assisted laparoscopic solo surgery.
  • This technology holds potential for broader application in solo surgical procedures.